{
    "0": {
        "acceleration": [
            -0.008313171565532684,
            -0.0004962578532285988,
            -0.5567476153373718
        ],
        "angular_velocity": [
            0.0319129042327404,
            -0.012007690966129303,
            -0.0002834576880559325
        ],
        "forward_vector": [
            -0.9869210124015808,
            -0.1604628711938858,
            0.01544759701937437
        ],
        "right_vector": [
            0.16048367321491241,
            -0.9870385527610779,
            0.00010811140964506194
        ],
        "location": [
            1257.159423828125,
            4099.244140625,
            364.2222595214844
        ],
        "rotation": [
            -0.006195066496729851,
            0.8851173520088196,
            -170.76512145996094
        ],
        "velocity": [
            0.0017312730196863413,
            3.1024850613903254e-05,
            0.11474189162254333
        ],
        "speed": 0.0017315509839590279,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1610107421875,
                        "y": 4099.2451171875,
                        "z": 264.3318786621094
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.001957246335223317,
        "expert_target_speed": 10.0,
        "target_point": [
            50.99800688193722,
            -0.0009303629670114333
        ],
        "target_point_next": [
            101.99797780661558,
            -0.001190672431686579
        ]
    },
    "5": {
        "acceleration": [
            -0.0038737296126782894,
            0.0040566278621554375,
            -0.19407108426094055
        ],
        "angular_velocity": [
            0.004762660246342421,
            -0.005379232112318277,
            0.00010482533252798021
        ],
        "forward_vector": [
            -0.9869213700294495,
            -0.16046437621116638,
            0.015408501029014587
        ],
        "right_vector": [
            0.16048412024974823,
            -0.9870384335517883,
            4.473584340303205e-05
        ],
        "location": [
            1257.15966796875,
            4099.244140625,
            364.2385559082031
        ],
        "rotation": [
            -0.002563479356467724,
            0.8828770518302917,
            -170.76504516601562
        ],
        "velocity": [
            0.00047756938147358596,
            0.00019872959819622338,
            0.03254975378513336
        ],
        "speed": 0.0005172677907238144,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.001117706298828,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1242.3546142578125,
                4096.837890625,
                364.47064208984375
            ],
            "velocity": [
                -0.005237388424575329,
                -0.0009646150865592062,
                -0.36433759331703186
            ],
            "speed_kmh": 1.3117554438250802,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1179.3121337890625,
                        "y": 4089.627197265625,
                        "z": 365.511474609375
                    },
                    "rotation": {
                        "roll": 6.67090205297427e-09,
                        "pitch": -0.8851583003997803,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43430307507514954,
                "transform": {
                    "location": {
                        "x": 1271.965576171875,
                        "y": 4101.65234375,
                        "z": 364.0263671875
                    },
                    "rotation": {
                        "roll": -6.103888154029846e-05,
                        "pitch": 0.892432451248169,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": -0.006412007845938206,
                    "y": -0.0008974559605121613,
                    "z": -0.43425482511520386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3643765151500702,
                "transform": {
                    "location": {
                        "x": 1242.3546142578125,
                        "y": 4096.837890625,
                        "z": 364.47064208984375
                    },
                    "rotation": {
                        "roll": -0.0009460446308366954,
                        "pitch": 0.8473190665245056,
                        "yaw": -170.76527404785156
                    }
                },
                "velocity": {
                    "x": -0.005237388424575329,
                    "y": -0.0009646150865592062,
                    "z": -0.36433759331703186
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35629168152809143,
                "transform": {
                    "location": {
                        "x": 1227.549072265625,
                        "y": 4094.430908203125,
                        "z": 364.68994140625
                    },
                    "rotation": {
                        "roll": -0.00039673259016126394,
                        "pitch": 0.8276481032371521,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": -0.0049684676341712475,
                    "y": -0.0006563906208612025,
                    "z": -0.3562564253807068
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0007439627661369741,
        "expert_target_speed": 1.0395380691654263,
        "target_point": [
            50.9982478567551,
            -0.0010424967491733383
        ],
        "target_point_next": [
            101.99821878100892,
            -0.0013757622574566142
        ]
    },
    "10": {
        "acceleration": [
            -0.0014268546365201473,
            7.245540473377332e-05,
            -0.05383370444178581
        ],
        "angular_velocity": [
            0.016513315960764885,
            -0.006115769501775503,
            -2.43582599068759e-05
        ],
        "forward_vector": [
            -0.986921489238739,
            -0.16046512126922607,
            0.015392409637570381
        ],
        "right_vector": [
            0.16048449277877808,
            -0.9870383739471436,
            2.3965721993590705e-05
        ],
        "location": [
            1257.15966796875,
            4099.244140625,
            364.2428283691406
        ],
        "rotation": [
            -0.0013732974184677005,
            0.8819549679756165,
            -170.76499938964844
        ],
        "velocity": [
            0.00013015612785238773,
            -2.179771581722889e-05,
            0.008138682693243027
        ],
        "speed": 0.00013196877673289151,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.001177787780762,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1242.3543701171875,
                4096.837890625,
                364.46295166015625
            ],
            "velocity": [
                0.0006898066494613886,
                -4.671089118346572e-05,
                0.043952684849500656
            ],
            "speed_kmh": 0.15824924046257774,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1181.3671875,
                        "y": 4089.961181640625,
                        "z": 365.4309997558594
                    },
                    "rotation": {
                        "roll": 6.67090205297427e-09,
                        "pitch": -0.8851583003997803,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027835562825202942,
                "transform": {
                    "location": {
                        "x": 1271.965087890625,
                        "y": 4101.65234375,
                        "z": 364.0021667480469
                    },
                    "rotation": {
                        "roll": 0.0004947625566273928,
                        "pitch": 0.8982108235359192,
                        "yaw": -170.7651824951172
                    }
                },
                "velocity": {
                    "x": 0.0005081470008008182,
                    "y": -5.174545367481187e-05,
                    "z": 0.027830876410007477
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04395812004804611,
                "transform": {
                    "location": {
                        "x": 1242.3543701171875,
                        "y": 4096.837890625,
                        "z": 364.46295166015625
                    },
                    "rotation": {
                        "roll": -0.0014648359501734376,
                        "pitch": 0.8484392166137695,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0006898066494613886,
                    "y": -4.671089118346572e-05,
                    "z": 0.043952684849500656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.043901477009058,
                "transform": {
                    "location": {
                        "x": 1227.548828125,
                        "y": 4094.430908203125,
                        "z": 364.6824951171875
                    },
                    "rotation": {
                        "roll": -0.0007324141915887594,
                        "pitch": 0.8285565376281738,
                        "yaw": -170.7652130126953
                    }
                },
                "velocity": {
                    "x": 0.000597165955696255,
                    "y": 0.0004381722246762365,
                    "z": 0.04389522969722748
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0007470135460607708,
        "expert_target_speed": 1.014932444490776,
        "target_point": [
            50.9982478557377,
            -0.0010911324683355872
        ],
        "target_point_next": [
            101.99821877965049,
            -0.0014730353390284279
        ]
    },
    "15": {
        "acceleration": [
            -4.107840061187744,
            -0.686066746711731,
            0.057932883501052856
        ],
        "angular_velocity": [
            -0.13503442704677582,
            0.9427952766418457,
            -0.5888955593109131
        ],
        "forward_vector": [
            -0.9867627024650574,
            -0.16079598665237427,
            0.02107308991253376
        ],
        "right_vector": [
            0.16083425283432007,
            -0.9869814515113831,
            0.00012247821723576635
        ],
        "location": [
            1256.997314453125,
            4099.21728515625,
            364.2451477050781
        ],
        "rotation": [
            -0.007019044365733862,
            1.2074885368347168,
            -170.7448272705078
        ],
        "velocity": [
            -1.2580615282058716,
            -0.21202872693538666,
            0.021287355571985245
        ],
        "speed": 1.2758036642828448,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.91959285736084,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1242.272705078125,
                4096.82373046875,
                364.47100830078125
            ],
            "velocity": [
                -1.0444046258926392,
                -0.17935161292552948,
                0.028803233057260513
            ],
            "speed_kmh": 3.816301657683536,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1183.4222412109375,
                        "y": 4090.295654296875,
                        "z": 365.3506164550781
                    },
                    "rotation": {
                        "roll": 6.67090205297427e-09,
                        "pitch": -0.8851583003997803,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9360750317573547,
                "transform": {
                    "location": {
                        "x": 1271.8978271484375,
                        "y": 4101.640625,
                        "z": 364.0084228515625
                    },
                    "rotation": {
                        "roll": -0.006378169637173414,
                        "pitch": 1.118149757385254,
                        "yaw": -170.77230834960938
                    }
                },
                "velocity": {
                    "x": -0.9216815829277039,
                    "y": -0.15843595564365387,
                    "z": 0.04046669974923134
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0600837469100952,
                "transform": {
                    "location": {
                        "x": 1242.272705078125,
                        "y": 4096.82373046875,
                        "z": 364.47100830078125
                    },
                    "rotation": {
                        "roll": -0.0042724525555968285,
                        "pitch": 0.9837725758552551,
                        "yaw": -170.73422241210938
                    }
                },
                "velocity": {
                    "x": -1.0444046258926392,
                    "y": -0.17935161292552948,
                    "z": 0.028803233057260513
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2014331817626953,
                "transform": {
                    "location": {
                        "x": 1227.435791015625,
                        "y": 4094.411376953125,
                        "z": 364.6907653808594
                    },
                    "rotation": {
                        "roll": -0.005584718659520149,
                        "pitch": 1.0242414474487305,
                        "yaw": -170.7177276611328
                    }
                },
                "velocity": {
                    "x": -1.1838027238845825,
                    "y": -0.2030370831489563,
                    "z": 0.028789814561605453
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0009875277755782008,
        "expert_target_speed": 2.2438446716093043,
        "target_point": [
            50.83368513072373,
            -0.01943196374821099
        ],
        "target_point_next": [
            101.83365276238295,
            -0.03776105295323973
        ]
    },
    "20": {
        "acceleration": [
            -5.4137420654296875,
            -0.924370288848877,
            0.08170031011104584
        ],
        "angular_velocity": [
            -0.09372244775295258,
            0.5244455337524414,
            0.3436146080493927
        ],
        "forward_vector": [
            -0.9865248203277588,
            -0.16192413866519928,
            0.023437736555933952
        ],
        "right_vector": [
            0.16197173297405243,
            -0.9867953658103943,
            0.00013365385530050844
        ],
        "location": [
            1256.5360107421875,
            4099.13916015625,
            364.2519836425781
        ],
        "rotation": [
            -0.007659906521439552,
            1.3430063724517822,
            -170.67881774902344
        ],
        "velocity": [
            -2.4231178760528564,
            -0.4112524688243866,
            0.037912871688604355
        ],
        "speed": 2.457769076695583,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.865142822265625,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1241.865234375,
                4096.75390625,
                364.47857666015625
            ],
            "velocity": [
                -2.131737470626831,
                -0.3647567331790924,
                0.03326515108346939
            ],
            "speed_kmh": 7.7867082005827974,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1185.478515625,
                        "y": 4090.629638671875,
                        "z": 365.31591796875
                    },
                    "rotation": {
                        "roll": 6.670885621673506e-09,
                        "pitch": -0.8755413889884949,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7965166568756104,
                "transform": {
                    "location": {
                        "x": 1271.5462646484375,
                        "y": 4101.58056640625,
                        "z": 364.0179138183594
                    },
                    "rotation": {
                        "roll": -0.00878906063735485,
                        "pitch": 1.2691583633422852,
                        "yaw": -170.65977478027344
                    }
                },
                "velocity": {
                    "x": -1.7697961330413818,
                    "y": -0.3062509000301361,
                    "z": 0.038783252239227295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1629745960235596,
                "transform": {
                    "location": {
                        "x": 1241.865234375,
                        "y": 4096.75390625,
                        "z": 364.47857666015625
                    },
                    "rotation": {
                        "roll": -0.0012512224493548274,
                        "pitch": 1.0174864530563354,
                        "yaw": -170.61651611328125
                    }
                },
                "velocity": {
                    "x": -2.131737470626831,
                    "y": -0.3647567331790924,
                    "z": 0.03326515108346939
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.658403158187866,
                "transform": {
                    "location": {
                        "x": 1226.9482421875,
                        "y": 4094.328125,
                        "z": 364.6992492675781
                    },
                    "rotation": {
                        "roll": -0.003967286553233862,
                        "pitch": 1.1076244115829468,
                        "yaw": -170.62924194335938
                    }
                },
                "velocity": {
                    "x": -2.6199703216552734,
                    "y": -0.4486772119998932,
                    "z": 0.039387233555316925
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.008436855860054493,
        "expert_target_speed": 3.3805823980273386,
        "target_point": [
            50.36576263612445,
            -0.08034693806150983
        ],
        "target_point_next": [
            101.36567534532766,
            -0.15740561344926363
        ]
    },
    "25": {
        "acceleration": [
            -6.434140205383301,
            -1.1557221412658691,
            0.09817428886890411
        ],
        "angular_velocity": [
            -0.10266400873661041,
            0.5338751673698425,
            0.838505208492279
        ],
        "forward_vector": [
            -0.9859565496444702,
            -0.1648445874452591,
            0.026757381856441498
        ],
        "right_vector": [
            0.16491036117076874,
            -0.9863085150718689,
            0.0002555719402153045
        ],
        "location": [
            1255.711181640625,
            4098.99853515625,
            364.26397705078125
        ],
        "rotation": [
            -0.0146484375,
            1.5332680940628052,
            -170.50836181640625
        ],
        "velocity": [
            -4.101999282836914,
            -0.7068367600440979,
            0.06226221099495888
        ],
        "speed": 4.16245316150755,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.755324363708496,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1241.1488037109375,
                4096.630859375,
                364.4895324707031
            ],
            "velocity": [
                -3.6320619583129883,
                -0.6250284314155579,
                0.05451757460832596
            ],
            "speed_kmh": 13.26906808350013,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.651189804077148,
                "transform": {
                    "location": {
                        "x": 1187.41357421875,
                        "y": 4090.945556640625,
                        "z": 365.2818908691406
                    },
                    "rotation": {
                        "roll": -0.014404295943677425,
                        "pitch": -1.1124260425567627,
                        "yaw": 9.301545143127441
                    }
                },
                "velocity": {
                    "x": 6.559047698974609,
                    "y": 1.0971133708953857,
                    "z": -0.11645488440990448
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9333930015563965,
                "transform": {
                    "location": {
                        "x": 1270.9638671875,
                        "y": 4101.48095703125,
                        "z": 364.02825927734375
                    },
                    "rotation": {
                        "roll": -0.00723267113789916,
                        "pitch": 1.3460321426391602,
                        "yaw": -170.52517700195312
                    }
                },
                "velocity": {
                    "x": -2.889988660812378,
                    "y": -0.5003888010978699,
                    "z": 0.048687227070331573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.685852289199829,
                "transform": {
                    "location": {
                        "x": 1241.1488037109375,
                        "y": 4096.630859375,
                        "z": 364.4895324707031
                    },
                    "rotation": {
                        "roll": 0.0001773891708580777,
                        "pitch": 1.0718752145767212,
                        "yaw": -170.44699096679688
                    }
                },
                "velocity": {
                    "x": -3.6320619583129883,
                    "y": -0.6250284314155579,
                    "z": 0.05451757460832596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.180922985076904,
                "transform": {
                    "location": {
                        "x": 1226.095947265625,
                        "y": 4094.181396484375,
                        "z": 364.71185302734375
                    },
                    "rotation": {
                        "roll": -0.003540037665516138,
                        "pitch": 1.1387768983840942,
                        "yaw": -170.4491424560547
                    }
                },
                "velocity": {
                    "x": -4.119713306427002,
                    "y": -0.7102187871932983,
                    "z": 0.060556668788194656
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.019813911989331245,
        "expert_target_speed": 4.977911299032053,
        "target_point": [
            49.52857410972862,
            -0.23289027884427504
        ],
        "target_point_next": [
            100.52803177319562,
            -0.46169678669876113
        ]
    },
    "30": {
        "acceleration": [
            -3.3697509765625,
            -0.6645262241363525,
            0.005005300045013428
        ],
        "angular_velocity": [
            0.11267882585525513,
            -0.5249481201171875,
            0.6997613906860352
        ],
        "forward_vector": [
            -0.9852136969566345,
            -0.16913580894470215,
            0.02733342908322811
        ],
        "right_vector": [
            0.16920939087867737,
            -0.9855800867080688,
            0.0003854818642139435
        ],
        "location": [
            1254.4857177734375,
            4098.78564453125,
            364.2828369140625
        ],
        "rotation": [
            -0.022094737738370895,
            1.566285252571106,
            -170.2587432861328
        ],
        "velocity": [
            -5.528052806854248,
            -0.9729993343353271,
            0.08528056740760803
        ],
        "speed": 5.613029087755213,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.621214866638184,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1240.0552978515625,
                4096.44189453125,
                364.50592041015625
            ],
            "velocity": [
                -5.025371551513672,
                -0.8706427812576294,
                0.08095018565654755
            ],
            "speed_kmh": 18.363151852712083,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.893811225891113,
                "transform": {
                    "location": {
                        "x": 1189.08447265625,
                        "y": 4091.23388671875,
                        "z": 365.2541809082031
                    },
                    "rotation": {
                        "roll": -0.021759025752544403,
                        "pitch": -0.9377166032791138,
                        "yaw": 9.776744842529297
                    }
                },
                "velocity": {
                    "x": 6.792662143707275,
                    "y": 1.1714179515838623,
                    "z": -0.11023977398872375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.330684661865234,
                "transform": {
                    "location": {
                        "x": 1270.0574951171875,
                        "y": 4101.32421875,
                        "z": 364.04241943359375
                    },
                    "rotation": {
                        "roll": -0.005126937758177519,
                        "pitch": 1.4673908948898315,
                        "yaw": -170.35630798339844
                    }
                },
                "velocity": {
                    "x": -4.266194820404053,
                    "y": -0.7415841221809387,
                    "z": 0.06681907176971436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.100875377655029,
                "transform": {
                    "location": {
                        "x": 1240.0552978515625,
                        "y": 4096.44189453125,
                        "z": 364.50592041015625
                    },
                    "rotation": {
                        "roll": 0.003162100911140442,
                        "pitch": 1.0758230686187744,
                        "yaw": -170.2832489013672
                    }
                },
                "velocity": {
                    "x": -5.025371551513672,
                    "y": -0.8706427812576294,
                    "z": 0.08095018565654755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.366317272186279,
                "transform": {
                    "location": {
                        "x": 1224.8917236328125,
                        "y": 4093.97314453125,
                        "z": 364.7296447753906
                    },
                    "rotation": {
                        "roll": -0.0009765581926330924,
                        "pitch": 1.1040794849395752,
                        "yaw": -170.2688446044922
                    }
                },
                "velocity": {
                    "x": -5.2866106033325195,
                    "y": -0.9181702733039856,
                    "z": 0.07793376594781876
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.047363705933094025,
        "expert_target_speed": 6.271440594339692,
        "target_point": [
            48.283273677799514,
            -0.4511269211297506
        ],
        "target_point_next": [
            99.28125064011626,
            -0.902103790614909
        ]
    },
    "35": {
        "acceleration": [
            -9.449806213378906,
            -1.6028618812561035,
            0.13281330466270447
        ],
        "angular_velocity": [
            -0.17350691556930542,
            1.5535367727279663,
            1.3370258808135986
        ],
        "forward_vector": [
            -0.984351396560669,
            -0.17447178065776825,
            0.02473757416009903
        ],
        "right_vector": [
            0.17452965676784515,
            -0.9846519231796265,
            0.00018370173347648233
        ],
        "location": [
            1253.04296875,
            4098.53076171875,
            364.3053283691406
        ],
        "rotation": [
            -0.010528556071221828,
            1.4175032377243042,
            -169.948974609375
        ],
        "velocity": [
            -6.563472747802734,
            -1.164712905883789,
            0.0993257537484169
        ],
        "speed": 6.666013101118347,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.507904052734375,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1238.7235107421875,
                4096.21044921875,
                364.52569580078125
            ],
            "velocity": [
                -5.389952182769775,
                -0.9391801953315735,
                0.0776819959282875
            ],
            "speed_kmh": 19.698178415727558,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.697352409362793,
                "transform": {
                    "location": {
                        "x": 1190.7579345703125,
                        "y": 4091.521728515625,
                        "z": 365.22808837890625
                    },
                    "rotation": {
                        "roll": -0.01016235537827015,
                        "pitch": -0.8885461091995239,
                        "yaw": 9.759902000427246
                    }
                },
                "velocity": {
                    "x": 6.599900245666504,
                    "y": 1.133722186088562,
                    "z": -0.10255711525678635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.369104385375977,
                "transform": {
                    "location": {
                        "x": 1268.8326416015625,
                        "y": 4101.111328125,
                        "z": 364.0619812011719
                    },
                    "rotation": {
                        "roll": -0.001983644673600793,
                        "pitch": 1.4501515626907349,
                        "yaw": -170.2239532470703
                    }
                },
                "velocity": {
                    "x": -5.288787841796875,
                    "y": -0.9214587807655334,
                    "z": 0.08318481594324112
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.471716403961182,
                "transform": {
                    "location": {
                        "x": 1238.7235107421875,
                        "y": 4096.21044921875,
                        "z": 364.52569580078125
                    },
                    "rotation": {
                        "roll": 0.005851496942341328,
                        "pitch": 0.9513769745826721,
                        "yaw": -170.16317749023438
                    }
                },
                "velocity": {
                    "x": -5.389952182769775,
                    "y": -0.9391801953315735,
                    "z": 0.0776819959282875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.456787586212158,
                "transform": {
                    "location": {
                        "x": 1223.564697265625,
                        "y": 4093.7421875,
                        "z": 364.7488708496094
                    },
                    "rotation": {
                        "roll": 0.00421679625287652,
                        "pitch": 0.9185852408409119,
                        "yaw": -170.1913604736328
                    }
                },
                "velocity": {
                    "x": -5.375252723693848,
                    "y": -0.9366300702095032,
                    "z": 0.0769122838973999
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07887794822454453,
        "expert_target_speed": 7.107141865862972,
        "target_point": [
            46.815038547835705,
            -0.7113546510619395
        ],
        "target_point_next": [
            97.80983171669605,
            -1.4380623302242501
        ]
    },
    "40": {
        "acceleration": [
            -3.019275665283203,
            -0.5297136306762695,
            0.04690125584602356
        ],
        "angular_velocity": [
            0.2566606402397156,
            -0.7059149742126465,
            -2.592517137527466
        ],
        "forward_vector": [
            -0.9844158887863159,
            -0.17402644455432892,
            0.025302449241280556
        ],
        "right_vector": [
            0.17407850921154022,
            -0.9847317934036255,
            -0.00014683627523481846
        ],
        "location": [
            1251.2301025390625,
            4098.20947265625,
            364.332763671875
        ],
        "rotation": [
            0.00841579306870699,
            1.4498783349990845,
            -169.97474670410156
        ],
        "velocity": [
            -7.6984171867370605,
            -1.3620717525482178,
            0.11667409539222717
        ],
        "speed": 7.817983540538975,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.190686225891113,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1237.2216796875,
                4095.95263671875,
                364.54803466796875
            ],
            "velocity": [
                -7.078118324279785,
                -1.2038887739181519,
                0.10518278181552887
            ],
            "speed_kmh": 25.84994799040033,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.788233280181885,
                "transform": {
                    "location": {
                        "x": 1192.2735595703125,
                        "y": 4091.78173828125,
                        "z": 365.20458984375
                    },
                    "rotation": {
                        "roll": -0.007751468103379011,
                        "pitch": -0.9877272844314575,
                        "yaw": 9.722975730895996
                    }
                },
                "velocity": {
                    "x": 5.704390048980713,
                    "y": 0.9776230454444885,
                    "z": -0.0884898453950882
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.182313919067383,
                "transform": {
                    "location": {
                        "x": 1267.48388671875,
                        "y": 4100.8779296875,
                        "z": 364.0837097167969
                    },
                    "rotation": {
                        "roll": 0.02773449197411537,
                        "pitch": 1.2604703903198242,
                        "yaw": -170.201904296875
                    }
                },
                "velocity": {
                    "x": -6.093901634216309,
                    "y": -1.0374267101287842,
                    "z": 0.09548209607601166
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.180541038513184,
                "transform": {
                    "location": {
                        "x": 1237.2216796875,
                        "y": 4095.95263671875,
                        "z": 364.54803466796875
                    },
                    "rotation": {
                        "roll": 0.015481618233025074,
                        "pitch": 1.082352638244629,
                        "yaw": -170.2578582763672
                    }
                },
                "velocity": {
                    "x": -7.078118324279785,
                    "y": -1.2038887739181519,
                    "z": 0.10518278181552887
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.716272830963135,
                "transform": {
                    "location": {
                        "x": 1221.94921875,
                        "y": 4093.466552734375,
                        "z": 364.7723083496094
                    },
                    "rotation": {
                        "roll": 0.018948767334222794,
                        "pitch": 1.2043125629425049,
                        "yaw": -170.25186157226562
                    }
                },
                "velocity": {
                    "x": -7.606412887573242,
                    "y": -1.2927708625793457,
                    "z": 0.10996393114328384
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08637576550245285,
        "expert_target_speed": 8.018573068321931,
        "target_point": [
            44.97423752083461,
            -0.6910774229656678
        ],
        "target_point_next": [
            95.96935263941539,
            -1.3948305249087287
        ]
    },
    "45": {
        "acceleration": [
            -2.086772918701172,
            -0.2431035041809082,
            0.026263445615768433
        ],
        "angular_velocity": [
            0.16375043988227844,
            -0.5961185097694397,
            1.710286259651184
        ],
        "forward_vector": [
            -0.9846577048301697,
            -0.17310218513011932,
            0.022016771137714386
        ],
        "right_vector": [
            0.17313291132450104,
            -0.9848983287811279,
            -0.0005179676809348166
        ],
        "location": [
            1249.2279052734375,
            4097.857421875,
            364.36383056640625
        ],
        "rotation": [
            0.029684560373425484,
            1.2615699768066406,
            -170.02932739257812
        ],
        "velocity": [
            -8.280052185058594,
            -1.441562294960022,
            0.12487470358610153
        ],
        "speed": 8.40460385964407,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.0988187789917,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1235.3079833984375,
                4095.628662109375,
                364.576171875
            ],
            "velocity": [
                -8.118507385253906,
                -1.3721636533737183,
                0.11913573741912842
            ],
            "speed_kmh": 29.644243353418606,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.016436576843262,
                "transform": {
                    "location": {
                        "x": 1193.72509765625,
                        "y": 4092.0302734375,
                        "z": 365.1824645996094
                    },
                    "rotation": {
                        "roll": -0.007232659496366978,
                        "pitch": -0.8681921362876892,
                        "yaw": 9.718276977539062
                    }
                },
                "velocity": {
                    "x": 5.92945671081543,
                    "y": 1.0152689218521118,
                    "z": -0.09100011736154556
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.537879467010498,
                "transform": {
                    "location": {
                        "x": 1265.781005859375,
                        "y": 4100.58935546875,
                        "z": 364.10943603515625
                    },
                    "rotation": {
                        "roll": 0.026216980069875717,
                        "pitch": 1.462261438369751,
                        "yaw": -170.34878540039062
                    }
                },
                "velocity": {
                    "x": -7.431643962860107,
                    "y": -1.255804181098938,
                    "z": 0.11511512845754623
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.234512329101562,
                "transform": {
                    "location": {
                        "x": 1235.3079833984375,
                        "y": 4095.628662109375,
                        "z": 364.576171875
                    },
                    "rotation": {
                        "roll": 0.010640159249305725,
                        "pitch": 1.0342203378677368,
                        "yaw": -170.3797607421875
                    }
                },
                "velocity": {
                    "x": -8.118507385253906,
                    "y": -1.3721636533737183,
                    "z": 0.11913573741912842
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.278928756713867,
                "transform": {
                    "location": {
                        "x": 1219.9163818359375,
                        "y": 4093.122314453125,
                        "z": 364.8017883300781
                    },
                    "rotation": {
                        "roll": 0.013529027812182903,
                        "pitch": 1.0108952522277832,
                        "yaw": -170.37120056152344
                    }
                },
                "velocity": {
                    "x": -8.162407875061035,
                    "y": -1.3789576292037964,
                    "z": 0.11932197213172913
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.7198933362960815,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10374225676059723,
        "expert_target_speed": 8.475319662519096,
        "target_point": [
            42.941962913549894,
            -0.6482948118322502
        ],
        "target_point_next": [
            93.93772536860124,
            -1.3034635029157702
        ]
    },
    "50": {
        "acceleration": [
            -2.1278953552246094,
            -0.24000167846679688,
            0.02680450677871704
        ],
        "angular_velocity": [
            0.0902922973036766,
            -0.24153771996498108,
            -3.086625337600708
        ],
        "forward_vector": [
            -0.9853576421737671,
            -0.16929788887500763,
            0.020212942734360695
        ],
        "right_vector": [
            0.1693170964717865,
            -0.9855613112449646,
            -0.0007702459115535021
        ],
        "location": [
            1247.0906982421875,
            4097.48828125,
            364.3963623046875
        ],
        "rotation": [
            0.04414086043834686,
            1.1581951379776,
            -170.25099182128906
        ],
        "velocity": [
            -8.807486534118652,
            -1.5024925470352173,
            0.13220065832138062
        ],
        "speed": 8.934724556614924,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.974141120910645,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1233.2923583984375,
                4095.28857421875,
                364.6054992675781
            ],
            "velocity": [
                -7.752505302429199,
                -1.305048942565918,
                0.11379402130842209
            ],
            "speed_kmh": 28.304664387803324,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.1198148727417,
                "transform": {
                    "location": {
                        "x": 1195.457275390625,
                        "y": 4092.322021484375,
                        "z": 365.15618896484375
                    },
                    "rotation": {
                        "roll": 0.0018582695629447699,
                        "pitch": -0.6172783374786377,
                        "yaw": 9.575103759765625
                    }
                },
                "velocity": {
                    "x": 8.007024765014648,
                    "y": 1.3431251049041748,
                    "z": -0.1223074197769165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.549626350402832,
                "transform": {
                    "location": {
                        "x": 1263.807373046875,
                        "y": 4100.255859375,
                        "z": 364.1404113769531
                    },
                    "rotation": {
                        "roll": 0.017820747569203377,
                        "pitch": 1.3592485189437866,
                        "yaw": -170.41680908203125
                    }
                },
                "velocity": {
                    "x": -8.429747581481934,
                    "y": -1.4206925630569458,
                    "z": 0.13074786961078644
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8624067306518555,
                "transform": {
                    "location": {
                        "x": 1233.2923583984375,
                        "y": 4095.28857421875,
                        "z": 364.6054992675781
                    },
                    "rotation": {
                        "roll": 0.007540049031376839,
                        "pitch": 0.8387266993522644,
                        "yaw": -170.435302734375
                    }
                },
                "velocity": {
                    "x": -7.752505302429199,
                    "y": -1.305048942565918,
                    "z": 0.11379402130842209
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.814678192138672,
                "transform": {
                    "location": {
                        "x": 1217.946533203125,
                        "y": 4092.791259765625,
                        "z": 364.83038330078125
                    },
                    "rotation": {
                        "roll": 0.01682443544268608,
                        "pitch": 0.8006688952445984,
                        "yaw": -170.4866180419922
                    }
                },
                "velocity": {
                    "x": -7.70750093460083,
                    "y": -1.2847776412963867,
                    "z": 0.11387952417135239
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.30233046412467957,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1017644926905632,
        "expert_target_speed": 8.777504300467536,
        "target_point": [
            40.77529846730463,
            -0.4840775352988862
        ],
        "target_point_next": [
            91.77321388991612,
            -0.9419606360637953
        ]
    },
    "55": {
        "acceleration": [
            -2.176952362060547,
            -0.2160358428955078,
            0.030173957347869873
        ],
        "angular_velocity": [
            0.04069167748093605,
            -0.05799258500337601,
            1.179799199104309
        ],
        "forward_vector": [
            -0.9859350919723511,
            -0.1659718155860901,
            0.019631553441286087
        ],
        "right_vector": [
            0.16598667204380035,
            -0.9861275553703308,
            -0.0008813638123683631
        ],
        "location": [
            1244.8193359375,
            4097.1044921875,
            364.4305725097656
        ],
        "rotation": [
            0.05050816386938095,
            1.1248774528503418,
            -170.44444274902344
        ],
        "velocity": [
            -9.347460746765137,
            -1.5591212511062622,
            0.13952001929283142
        ],
        "speed": 9.476596513937174,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.544711112976074,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1231.4437255859375,
                4094.98046875,
                364.6324768066406
            ],
            "velocity": [
                -7.220802307128906,
                -1.1977053880691528,
                0.10679824650287628
            ],
            "speed_kmh": 26.352858187838475,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.234209060668945,
                "transform": {
                    "location": {
                        "x": 1197.51953125,
                        "y": 4092.6669921875,
                        "z": 365.1244812011719
                    },
                    "rotation": {
                        "roll": -0.00030518617131747305,
                        "pitch": -0.7873499989509583,
                        "yaw": 9.499018669128418
                    }
                },
                "velocity": {
                    "x": 8.120923042297363,
                    "y": 1.35563325881958,
                    "z": -0.12275292724370956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.187750816345215,
                "transform": {
                    "location": {
                        "x": 1261.5616455078125,
                        "y": 4099.87939453125,
                        "z": 364.1754455566406
                    },
                    "rotation": {
                        "roll": 0.02818390727043152,
                        "pitch": 1.2923468351364136,
                        "yaw": -170.51800537109375
                    }
                },
                "velocity": {
                    "x": -9.062567710876465,
                    "y": -1.5050028562545776,
                    "z": 0.13999436795711517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.32023811340332,
                "transform": {
                    "location": {
                        "x": 1231.4437255859375,
                        "y": 4094.98046875,
                        "z": 364.6324768066406
                    },
                    "rotation": {
                        "roll": 0.008859380148351192,
                        "pitch": 0.7630413770675659,
                        "yaw": -170.5553741455078
                    }
                },
                "velocity": {
                    "x": -7.220802307128906,
                    "y": -1.1977053880691528,
                    "z": 0.10679824650287628
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.122103691101074,
                "transform": {
                    "location": {
                        "x": 1215.98779296875,
                        "y": 4092.466064453125,
                        "z": 364.8591003417969
                    },
                    "rotation": {
                        "roll": 0.011718949303030968,
                        "pitch": 0.8771533370018005,
                        "yaw": -170.566650390625
                    }
                },
                "velocity": {
                    "x": -8.012201309204102,
                    "y": -1.3265178203582764,
                    "z": 0.11641551554203033
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10001418739557266,
        "expert_target_speed": 9.002854341965431,
        "target_point": [
            38.473142660267605,
            -0.3478074620950915
        ],
        "target_point_next": [
            89.47231341061321,
            -0.6334946387306264
        ]
    },
    "60": {
        "acceleration": [
            -2.1944427490234375,
            -0.20389556884765625,
            0.037049055099487305
        ],
        "angular_velocity": [
            -0.03283389285206795,
            -0.041524600237607956,
            -2.808669090270996
        ],
        "forward_vector": [
            -0.9866421222686768,
            -0.1617363691329956,
            0.019460400566458702
        ],
        "right_vector": [
            0.1617489755153656,
            -0.9868314862251282,
            -0.0009345321450382471
        ],
        "location": [
            1242.4117431640625,
            4096.70751953125,
            364.4665832519531
        ],
        "rotation": [
            0.053554896265268326,
            1.1150692701339722,
            -170.69052124023438
        ],
        "velocity": [
            -9.894344329833984,
            -1.6112844944000244,
            0.14736823737621307
        ],
        "speed": 10.024683907196868,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.003368377685547,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1229.5703125,
                4094.6708984375,
                364.6600646972656
            ],
            "velocity": [
                -7.854466915130615,
                -1.2970434427261353,
                0.11321723461151123
            ],
            "speed_kmh": 28.661921830298773,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.87435245513916,
                "transform": {
                    "location": {
                        "x": 1199.48876953125,
                        "y": 4092.99462890625,
                        "z": 365.094482421875
                    },
                    "rotation": {
                        "roll": 0.0033064926974475384,
                        "pitch": -0.8775631189346313,
                        "yaw": 9.40768814086914
                    }
                },
                "velocity": {
                    "x": 7.76800012588501,
                    "y": 1.284407377243042,
                    "z": -0.11788635700941086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.242918014526367,
                "transform": {
                    "location": {
                        "x": 1259.307861328125,
                        "y": 4099.50634765625,
                        "z": 364.2111511230469
                    },
                    "rotation": {
                        "roll": 0.020467031747102737,
                        "pitch": 1.0298558473587036,
                        "yaw": -170.6145477294922
                    }
                },
                "velocity": {
                    "x": -9.118501663208008,
                    "y": -1.504921555519104,
                    "z": 0.1402965486049652
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.961645126342773,
                "transform": {
                    "location": {
                        "x": 1229.5703125,
                        "y": 4094.6708984375,
                        "z": 364.6600646972656
                    },
                    "rotation": {
                        "roll": 0.005839439108967781,
                        "pitch": 0.8923299908638,
                        "yaw": -170.6110076904297
                    }
                },
                "velocity": {
                    "x": -7.854466915130615,
                    "y": -1.2970434427261353,
                    "z": 0.11321723461151123
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.057196617126465,
                "transform": {
                    "location": {
                        "x": 1213.981201171875,
                        "y": 4092.13427734375,
                        "z": 364.888427734375
                    },
                    "rotation": {
                        "roll": 0.006088378839194775,
                        "pitch": 0.8391501903533936,
                        "yaw": -170.63099670410156
                    }
                },
                "velocity": {
                    "x": -7.948853015899658,
                    "y": -1.3116140365600586,
                    "z": 0.11758607625961304
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.09027866274118423,
        "expert_target_speed": 9.279110808471582,
        "target_point": [
            36.03418212167673,
            -0.18486009423393224
        ],
        "target_point_next": [
            87.03410946360866,
            -0.2515347030751762
        ]
    },
    "65": {
        "acceleration": [
            -3.5906410217285156,
            -0.39418697357177734,
            0.0445285439491272
        ],
        "angular_velocity": [
            -0.022025037556886673,
            0.6599338054656982,
            -0.1447184681892395
        ],
        "forward_vector": [
            -0.9872635006904602,
            -0.1577727198600769,
            0.020458344370126724
        ],
        "right_vector": [
            0.15778563916683197,
            -0.9874728918075562,
            -0.000991123029962182
        ],
        "location": [
            1239.875244140625,
            4096.298828125,
            364.50408935546875
        ],
        "rotation": [
            0.056799061596393585,
            1.1722584962844849,
            -170.92044067382812
        ],
        "velocity": [
            -10.64527416229248,
            -1.6890255212783813,
            0.15756669640541077
        ],
        "speed": 10.778435378193887,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.430850982666016,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1227.60009765625,
                4094.34619140625,
                364.6885986328125
            ],
            "velocity": [
                -7.689663410186768,
                -1.263235092163086,
                0.11316001415252686
            ],
            "speed_kmh": 28.05679613172132,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.14000129699707,
                "transform": {
                    "location": {
                        "x": 1201.46435546875,
                        "y": 4093.31982421875,
                        "z": 365.06488037109375
                    },
                    "rotation": {
                        "roll": 0.0015178343746811152,
                        "pitch": -0.8277847170829773,
                        "yaw": 9.368746757507324
                    }
                },
                "velocity": {
                    "x": 8.031143188476562,
                    "y": 1.321421504020691,
                    "z": -0.11918678134679794
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.871816635131836,
                "transform": {
                    "location": {
                        "x": 1256.9488525390625,
                        "y": 4099.1171875,
                        "z": 364.24700927734375
                    },
                    "rotation": {
                        "roll": 0.017933785915374756,
                        "pitch": 1.10352623462677,
                        "yaw": -170.6575927734375
                    }
                },
                "velocity": {
                    "x": -9.740528106689453,
                    "y": -1.5977305173873901,
                    "z": 0.14878292381763458
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.793554782867432,
                "transform": {
                    "location": {
                        "x": 1227.60009765625,
                        "y": 4094.34619140625,
                        "z": 364.6885986328125
                    },
                    "rotation": {
                        "roll": 0.005589949898421764,
                        "pitch": 0.8213165402412415,
                        "yaw": -170.6519317626953
                    }
                },
                "velocity": {
                    "x": -7.689663410186768,
                    "y": -1.263235092163086,
                    "z": 0.11316001415252686
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.964719772338867,
                "transform": {
                    "location": {
                        "x": 1212.014404296875,
                        "y": 4091.810791015625,
                        "z": 364.9173278808594
                    },
                    "rotation": {
                        "roll": 0.006837411783635616,
                        "pitch": 0.8234407305717468,
                        "yaw": -170.65528869628906
                    }
                },
                "velocity": {
                    "x": -7.858913898468018,
                    "y": -1.2888431549072266,
                    "z": 0.11454053968191147
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.07448115944862366,
        "expert_target_speed": 9.520220503733057,
        "target_point": [
            33.46542282867854,
            -0.04354780497543498
        ],
        "target_point_next": [
            84.46520707143465,
            0.09444341983736493
        ]
    },
    "70": {
        "acceleration": [
            2.20733642578125,
            0.5084395408630371,
            -0.057019591331481934
        ],
        "angular_velocity": [
            0.1948147565126419,
            -1.3692845106124878,
            -2.7313272953033447
        ],
        "forward_vector": [
            -0.9879788160324097,
            -0.15369687974452972,
            0.01658506505191326
        ],
        "right_vector": [
            0.15370240807533264,
            -0.9881167411804199,
            -0.0009479059954173863
        ],
        "location": [
            1237.22607421875,
            4095.883056640625,
            364.5440979003906
        ],
        "rotation": [
            0.054318495094776154,
            0.9502978324890137,
            -171.1575469970703
        ],
        "velocity": [
            -10.407740592956543,
            -1.6113605499267578,
            0.15376822650432587
        ],
        "speed": 10.53173998312414,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.241851806640625,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1178.7418212890625,
                4086.494873046875,
                365.5694580078125
            ],
            "velocity": [
                -7.41025972366333,
                -1.213739275932312,
                -0.8719944357872009
            ],
            "speed_kmh": 27.21406814527706,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.274242401123047,
                "transform": {
                    "location": {
                        "x": 1269.736328125,
                        "y": 4101.2900390625,
                        "z": 364.3368225097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.882931649684906,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": -10.05793571472168,
                    "y": -1.6352784633636475,
                    "z": -1.3129583597183228
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4178,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1161.75830078125,
                        "y": 4086.77294921875,
                        "z": 365.8830261230469
                    },
                    "rotation": {
                        "roll": 1.3341912463715744e-08,
                        "pitch": -0.9145212769508362,
                        "yaw": 9.234707832336426
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.061583518981934,
                "transform": {
                    "location": {
                        "x": 1203.468505859375,
                        "y": 4093.64892578125,
                        "z": 365.0348205566406
                    },
                    "rotation": {
                        "roll": 6.838288391008973e-05,
                        "pitch": -0.855863630771637,
                        "yaw": 9.314277648925781
                    }
                },
                "velocity": {
                    "x": 7.954277992248535,
                    "y": 1.305465817451477,
                    "z": -0.11983711272478104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.57556438446045,
                "transform": {
                    "location": {
                        "x": 1254.411865234375,
                        "y": 4098.70166015625,
                        "z": 364.2854919433594
                    },
                    "rotation": {
                        "roll": 0.01293286681175232,
                        "pitch": 1.1718896627426147,
                        "yaw": -170.71038818359375
                    }
                },
                "velocity": {
                    "x": -10.435956001281738,
                    "y": -1.705289602279663,
                    "z": 0.15929923951625824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.5594635009765625,
                "transform": {
                    "location": {
                        "x": 1178.7418212890625,
                        "y": 4086.494873046875,
                        "z": 365.5694580078125
                    },
                    "rotation": {
                        "roll": -0.0032043533865362406,
                        "pitch": 0.8837854266166687,
                        "yaw": -170.7870330810547
                    }
                },
                "velocity": {
                    "x": -7.41025972366333,
                    "y": -1.213739275932312,
                    "z": -0.8719944357872009
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1163.8446044921875,
                        "y": 4084.07275390625,
                        "z": 365.7752380371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9145212769508362,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.05753388628363609,
        "expert_target_speed": 10.0,
        "target_point": [
            30.783721010952956,
            0.09134266941690061
        ],
        "target_point_next": [
            81.7824974485566,
            0.440393171670868
        ]
    },
    "75": {
        "acceleration": [
            6.920948028564453,
            1.2200474739074707,
            -0.11363506317138672
        ],
        "angular_velocity": [
            0.3518476188182831,
            -2.163726329803467,
            -0.08176323026418686
        ],
        "forward_vector": [
            -0.9886390566825867,
            -0.14996527135372162,
            0.010159078054130077
        ],
        "right_vector": [
            0.14996421337127686,
            -0.9886910319328308,
            -0.0008711085538379848
        ],
        "location": [
            1234.717529296875,
            4095.499267578125,
            364.58233642578125
        ],
        "rotation": [
            0.0499134287238121,
            0.5820823311805725,
            -171.3746337890625
        ],
        "velocity": [
            -9.304362297058105,
            -1.4022953510284424,
            0.1367182582616806
        ],
        "speed": 9.409441535310815,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.5126838684082,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1176.95556640625,
                4086.195556640625,
                365.4373474121094
            ],
            "velocity": [
                -6.669454574584961,
                -1.1374404430389404,
                0.11969232559204102
            ],
            "speed_kmh": 24.360517000340366,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.860970497131348,
                "transform": {
                    "location": {
                        "x": 1267.28466796875,
                        "y": 4100.880859375,
                        "z": 364.02685546875
                    },
                    "rotation": {
                        "roll": 0.028949027881026268,
                        "pitch": 0.9132030606269836,
                        "yaw": -170.4203643798828
                    }
                },
                "velocity": {
                    "x": -9.716699600219727,
                    "y": -1.6768549680709839,
                    "z": 0.11247430741786957
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4178,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1163.80419921875,
                        "y": 4087.10595703125,
                        "z": 365.6722106933594
                    },
                    "rotation": {
                        "roll": 1.3341912463715744e-08,
                        "pitch": -0.9145212769508362,
                        "yaw": 9.234707832336426
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.024788856506348,
                "transform": {
                    "location": {
                        "x": 1205.447021484375,
                        "y": 4093.9736328125,
                        "z": 365.0050964355469
                    },
                    "rotation": {
                        "roll": -0.00018310168525204062,
                        "pitch": -0.8595587611198425,
                        "yaw": 9.315630912780762
                    }
                },
                "velocity": {
                    "x": 7.918498516082764,
                    "y": 1.2962907552719116,
                    "z": -0.11939113587141037
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.199460983276367,
                "transform": {
                    "location": {
                        "x": 1251.8416748046875,
                        "y": 4098.28173828125,
                        "z": 364.3254699707031
                    },
                    "rotation": {
                        "roll": 0.007477342616766691,
                        "pitch": 0.9088454246520996,
                        "yaw": -170.7242431640625
                    }
                },
                "velocity": {
                    "x": -10.06495189666748,
                    "y": -1.6438111066818237,
                    "z": 0.15370984375476837
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.766810417175293,
                "transform": {
                    "location": {
                        "x": 1176.95556640625,
                        "y": 4086.195556640625,
                        "z": 365.4373474121094
                    },
                    "rotation": {
                        "roll": -0.011871335096657276,
                        "pitch": 0.8079703450202942,
                        "yaw": -170.48553466796875
                    }
                },
                "velocity": {
                    "x": -6.669454574584961,
                    "y": -1.1374404430389404,
                    "z": 0.11969232559204102
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1163.8446044921875,
                        "y": 4084.07275390625,
                        "z": 365.7752380371094
                    },
                    "rotation": {
                        "roll": -1.334195509627989e-08,
                        "pitch": 0.9261667728424072,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04330434650182724,
        "expert_target_speed": 10.0,
        "target_point": [
            28.245422541677126,
            0.20473143727471577
        ],
        "target_point_next": [
            79.24251063476744,
            0.7469863693744028
        ]
    },
    "80": {
        "acceleration": [
            -0.3318977355957031,
            -0.13042688369750977,
            0.025751590728759766
        ],
        "angular_velocity": [
            -0.384738951921463,
            1.0179171562194824,
            -0.4107188880443573
        ],
        "forward_vector": [
            -0.9891270399093628,
            -0.14674974977970123,
            0.009602399542927742
        ],
        "right_vector": [
            0.14675134420394897,
            -0.9891732931137085,
            -0.0005424660630524158
        ],
        "location": [
            1232.482666015625,
            4095.16552734375,
            364.6150817871094
        ],
        "rotation": [
            0.03108244575560093,
            0.5501853823661804,
            -171.5609893798828
        ],
        "velocity": [
            -8.84976577758789,
            -1.3125665187835693,
            0.1304534375667572
        ],
        "speed": 8.946573935557534,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.422603607177734,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1175.802978515625,
                4085.997802734375,
                365.46435546875
            ],
            "velocity": [
                -1.6136645078659058,
                -0.2774490416049957,
                0.05184228718280792
            ],
            "speed_kmh": 5.897387594212113,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.325736045837402,
                "transform": {
                    "location": {
                        "x": 1264.9075927734375,
                        "y": 4100.47216796875,
                        "z": 364.11578369140625
                    },
                    "rotation": {
                        "roll": 0.012111704796552658,
                        "pitch": 0.9077252745628357,
                        "yaw": -170.2284393310547
                    }
                },
                "velocity": {
                    "x": -9.184417724609375,
                    "y": -1.587525725364685,
                    "z": 0.3091471493244171
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4178,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037223815917969,
                "transform": {
                    "location": {
                        "x": 1165.82763671875,
                        "y": 4087.44091796875,
                        "z": 365.6321105957031
                    },
                    "rotation": {
                        "roll": -0.0593872107565403,
                        "pitch": -0.970795214176178,
                        "yaw": 9.461664199829102
                    }
                },
                "velocity": {
                    "x": 7.920925140380859,
                    "y": 1.3502960205078125,
                    "z": -0.180571049451828
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.084489822387695,
                "transform": {
                    "location": {
                        "x": 1207.4366455078125,
                        "y": 4094.298583984375,
                        "z": 364.9754638671875
                    },
                    "rotation": {
                        "roll": 0.0025619282387197018,
                        "pitch": -0.8377090096473694,
                        "yaw": 9.261746406555176
                    }
                },
                "velocity": {
                    "x": 7.978065013885498,
                    "y": 1.302001953125,
                    "z": -0.11934264749288559
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.35305118560791,
                "transform": {
                    "location": {
                        "x": 1249.58056640625,
                        "y": 4097.9130859375,
                        "z": 364.3617248535156
                    },
                    "rotation": {
                        "roll": 0.004809489939361811,
                        "pitch": 0.37887057662010193,
                        "yaw": -170.73147583007812
                    }
                },
                "velocity": {
                    "x": -8.243069648742676,
                    "y": -1.3453004360198975,
                    "z": 0.12423066794872284
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6381632089614868,
                "transform": {
                    "location": {
                        "x": 1175.802978515625,
                        "y": 4085.997802734375,
                        "z": 365.46435546875
                    },
                    "rotation": {
                        "roll": 0.0020068243611603975,
                        "pitch": 0.2522115409374237,
                        "yaw": -170.27377319335938
                    }
                },
                "velocity": {
                    "x": -1.6136645078659058,
                    "y": -0.2774490416049957,
                    "z": 0.05184228718280792
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 1163.8446044921875,
                        "y": 4084.07275390625,
                        "z": 365.7605895996094
                    },
                    "rotation": {
                        "roll": -1.334195509627989e-08,
                        "pitch": 0.9261667728424072,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.012284837663173676,
        "expert_target_speed": 10.0,
        "target_point": [
            25.984963069692668,
            0.29445338735463
        ],
        "target_point_next": [
            76.98001773465144,
            1.0025735068724995
        ]
    },
    "85": {
        "acceleration": [
            -2.6691246032714844,
            -0.5665493011474609,
            0.05183279514312744
        ],
        "angular_velocity": [
            -0.36951443552970886,
            1.10360586643219,
            1.1708024740219116
        ],
        "forward_vector": [
            -0.9886301159858704,
            -0.14962346851825714,
            0.0149408970028162
        ],
        "right_vector": [
            0.14964699745178223,
            -0.9887393712997437,
            0.0004628057940863073
        ],
        "location": [
            1230.2164306640625,
            4094.82373046875,
            364.64703369140625
        ],
        "rotation": [
            -0.026519780978560448,
            0.8560822010040283,
            -171.3939208984375
        ],
        "velocity": [
            -9.32537841796875,
            -1.4256336688995361,
            0.13548043370246887
        ],
        "speed": 9.433722170819813,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.24037551879883,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1175.6949462890625,
                4085.97900390625,
                365.4701232910156
            ],
            "velocity": [
                -0.7249565720558167,
                -0.1278918981552124,
                0.017822274938225746
            ],
            "speed_kmh": 2.6509203292331707,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.653386116027832,
                "transform": {
                    "location": {
                        "x": 1262.6986083984375,
                        "y": 4100.09130859375,
                        "z": 364.1669006347656
                    },
                    "rotation": {
                        "roll": 0.0037387895863503218,
                        "pitch": 0.9450522661209106,
                        "yaw": -170.22068786621094
                    }
                },
                "velocity": {
                    "x": -8.530526161193848,
                    "y": -1.4457077980041504,
                    "z": 0.14538732171058655
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4178,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.252562522888184,
                "transform": {
                    "location": {
                        "x": 1167.83544921875,
                        "y": 4087.7861328125,
                        "z": 365.5899658203125
                    },
                    "rotation": {
                        "roll": -0.0580749548971653,
                        "pitch": -0.9247119426727295,
                        "yaw": 9.79593563079834
                    }
                },
                "velocity": {
                    "x": 8.128911972045898,
                    "y": 1.4149112701416016,
                    "z": -0.15362755954265594
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047380447387695,
                "transform": {
                    "location": {
                        "x": 1209.4268798828125,
                        "y": 4094.623291015625,
                        "z": 364.9460144042969
                    },
                    "rotation": {
                        "roll": -6.103128907852806e-05,
                        "pitch": -0.8355370163917542,
                        "yaw": 9.28027057647705
                    }
                },
                "velocity": {
                    "x": 7.94159460067749,
                    "y": 1.2952237129211426,
                    "z": -0.11751880496740341
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.063851356506348,
                "transform": {
                    "location": {
                        "x": 1247.592041015625,
                        "y": 4097.5888671875,
                        "z": 364.39105224609375
                    },
                    "rotation": {
                        "roll": 0.004238697700202465,
                        "pitch": 0.5504859089851379,
                        "yaw": -170.7412567138672
                    }
                },
                "velocity": {
                    "x": -7.957941055297852,
                    "y": -1.2971242666244507,
                    "z": 0.11973468214273453
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7363667488098145,
                "transform": {
                    "location": {
                        "x": 1175.6949462890625,
                        "y": 4085.97900390625,
                        "z": 365.4701232910156
                    },
                    "rotation": {
                        "roll": 0.004010482225567102,
                        "pitch": 0.614778459072113,
                        "yaw": -170.25791931152344
                    }
                },
                "velocity": {
                    "x": -0.7249565720558167,
                    "y": -0.1278918981552124,
                    "z": 0.017822274938225746
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.08009862154722214,
                "transform": {
                    "location": {
                        "x": 1163.84375,
                        "y": 4084.07275390625,
                        "z": 365.6684265136719
                    },
                    "rotation": {
                        "roll": -0.00015258490748237818,
                        "pitch": 0.9174924492835999,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": -0.0010400853352621198,
                    "y": -0.000330870330799371,
                    "z": -0.08009118586778641
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.004774525761604309,
        "expert_target_speed": 10.0,
        "target_point": [
            23.693845817013152,
            0.21986723809410957
        ],
        "target_point_next": [
            74.69074820505186,
            0.779314474793825
        ]
    },
    "90": {
        "acceleration": [
            -6.208381652832031,
            -1.1289596557617188,
            0.08334159851074219
        ],
        "angular_velocity": [
            -0.3916225731372833,
            1.7050204277038574,
            0.48902055621147156
        ],
        "forward_vector": [
            -0.9879535436630249,
            -0.15362443029880524,
            0.018637293949723244
        ],
        "right_vector": [
            0.15366581082344055,
            -0.9881225824356079,
            0.0008004070841707289
        ],
        "location": [
            1227.8184814453125,
            4094.453369140625,
            364.68109130859375
        ],
        "rotation": [
            -0.045867919921875,
            1.0679000616073608,
            -171.1614227294922
        ],
        "velocity": [
            -10.135899543762207,
            -1.586511254310608,
            0.14707107841968536
        ],
        "speed": 10.259311746959108,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.127655029296875,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1175.3858642578125,
                4085.9248046875,
                365.4760437011719
            ],
            "velocity": [
                -1.648453950881958,
                -0.28950977325439453,
                0.02714909426867962
            ],
            "speed_kmh": 6.026053119379926,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.104663848876953,
                "transform": {
                    "location": {
                        "x": 1260.65771484375,
                        "y": 4099.74658203125,
                        "z": 364.1989440917969
                    },
                    "rotation": {
                        "roll": 0.0015672584995627403,
                        "pitch": 0.9087839126586914,
                        "yaw": -170.40377807617188
                    }
                },
                "velocity": {
                    "x": -7.992316246032715,
                    "y": -1.339386224746704,
                    "z": 0.12041446566581726
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4178,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0826997756958,
                "transform": {
                    "location": {
                        "x": 1169.84619140625,
                        "y": 4088.13427734375,
                        "z": 365.5544128417969
                    },
                    "rotation": {
                        "roll": -0.0069274925626814365,
                        "pitch": -0.9171441197395325,
                        "yaw": 9.82567024230957
                    }
                },
                "velocity": {
                    "x": 7.965796947479248,
                    "y": 1.3631856441497803,
                    "z": -0.13358943164348602
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056416511535645,
                "transform": {
                    "location": {
                        "x": 1211.412353515625,
                        "y": 4094.947509765625,
                        "z": 364.9168701171875
                    },
                    "rotation": {
                        "roll": 0.00013427012891042978,
                        "pitch": -0.8339523673057556,
                        "yaw": 9.236486434936523
                    }
                },
                "velocity": {
                    "x": 7.950887680053711,
                    "y": 1.2945771217346191,
                    "z": -0.11537875980138779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.593215942382812,
                "transform": {
                    "location": {
                        "x": 1245.5091552734375,
                        "y": 4097.24951171875,
                        "z": 364.4209289550781
                    },
                    "rotation": {
                        "roll": 0.0030763731338083744,
                        "pitch": 0.908777117729187,
                        "yaw": -170.75315856933594
                    }
                },
                "velocity": {
                    "x": -8.480645179748535,
                    "y": -1.3805445432662964,
                    "z": 0.12694141268730164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6739035844802856,
                "transform": {
                    "location": {
                        "x": 1175.3858642578125,
                        "y": 4085.9248046875,
                        "z": 365.4760437011719
                    },
                    "rotation": {
                        "roll": 0.004903636872768402,
                        "pitch": 0.9507622718811035,
                        "yaw": -170.1852569580078
                    }
                },
                "velocity": {
                    "x": -1.648453950881958,
                    "y": -0.28950977325439453,
                    "z": 0.02714909426867962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0044698044657707214,
                "transform": {
                    "location": {
                        "x": 1163.8436279296875,
                        "y": 4084.07275390625,
                        "z": 365.6624450683594
                    },
                    "rotation": {
                        "roll": -0.0003356966481078416,
                        "pitch": 0.9230590462684631,
                        "yaw": -170.76516723632812
                    }
                },
                "velocity": {
                    "x": -6.351530464598909e-05,
                    "y": 0.00012406401219777763,
                    "z": -0.004467630758881569
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.332955926656723,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0030286575201898813,
        "expert_target_speed": 10.0,
        "target_point": [
            21.268162543682713,
            0.12620270544243928
        ],
        "target_point_next": [
            72.26691522986229,
            0.47870637874483535
        ]
    },
    "95": {
        "acceleration": [
            -2.3059463500976562,
            -0.45139551162719727,
            0.03628253936767578
        ],
        "angular_velocity": [
            0.10451225191354752,
            -0.2227337658405304,
            1.9386231899261475
        ],
        "forward_vector": [
            -0.9873747229576111,
            -0.15699896216392517,
            0.0210338793694973
        ],
        "right_vector": [
            0.1570509970188141,
            -0.9875901341438293,
            0.0008344498928636312
        ],
        "location": [
            1225.1573486328125,
            4094.032958984375,
            364.7192077636719
        ],
        "rotation": [
            -0.047821044921875,
            1.2052414417266846,
            -170.96524047851562
        ],
        "velocity": [
            -10.981260299682617,
            -1.751094937324524,
            0.1585766226053238
        ],
        "speed": 11.120000505796263,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.94968032836914,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1174.8773193359375,
                4085.835205078125,
                365.4842834472656
            ],
            "velocity": [
                -2.0838966369628906,
                -0.36469608545303345,
                0.032320089638233185
            ],
            "speed_kmh": 7.616933916848412,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.25832462310791,
                "transform": {
                    "location": {
                        "x": 1258.6402587890625,
                        "y": 4099.40869140625,
                        "z": 364.22991943359375
                    },
                    "rotation": {
                        "roll": 0.0038954876363277435,
                        "pitch": 0.8730552196502686,
                        "yaw": -170.47921752929688
                    }
                },
                "velocity": {
                    "x": -8.14433479309082,
                    "y": -1.3617604970932007,
                    "z": 0.12382902204990387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4178,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.297322273254395,
                "transform": {
                    "location": {
                        "x": 1171.86572265625,
                        "y": 4088.47802734375,
                        "z": 365.521240234375
                    },
                    "rotation": {
                        "roll": 0.010733216069638729,
                        "pitch": -0.9037774205207825,
                        "yaw": 9.641484260559082
                    }
                },
                "velocity": {
                    "x": 8.180110931396484,
                    "y": 1.3833664655685425,
                    "z": -0.13279202580451965
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063004493713379,
                "transform": {
                    "location": {
                        "x": 1213.40185546875,
                        "y": 4095.271728515625,
                        "z": 364.8877258300781
                    },
                    "rotation": {
                        "roll": -0.0006103525520302355,
                        "pitch": -0.8332215547561646,
                        "yaw": 9.258659362792969
                    }
                },
                "velocity": {
                    "x": 7.957563877105713,
                    "y": 1.2945743799209595,
                    "z": -0.11529254913330078
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.188159942626953,
                "transform": {
                    "location": {
                        "x": 1243.1705322265625,
                        "y": 4096.869140625,
                        "z": 364.45452880859375
                    },
                    "rotation": {
                        "roll": 0.004717596340924501,
                        "pitch": 1.3019706010818481,
                        "yaw": -170.76268005371094
                    }
                },
                "velocity": {
                    "x": -10.055280685424805,
                    "y": -1.6332730054855347,
                    "z": 0.14949069917201996
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1158149242401123,
                "transform": {
                    "location": {
                        "x": 1174.8773193359375,
                        "y": 4085.835205078125,
                        "z": 365.4842834472656
                    },
                    "rotation": {
                        "roll": 0.009658055379986763,
                        "pitch": 0.9763481616973877,
                        "yaw": -170.02037048339844
                    }
                },
                "velocity": {
                    "x": -2.0838966369628906,
                    "y": -0.36469608545303345,
                    "z": 0.032320089638233185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00036248096148483455,
                "transform": {
                    "location": {
                        "x": 1163.8436279296875,
                        "y": 4084.07275390625,
                        "z": 365.66229248046875
                    },
                    "rotation": {
                        "roll": 6.680980004603043e-05,
                        "pitch": 0.9239196181297302,
                        "yaw": -170.76513671875
                    }
                },
                "velocity": {
                    "x": -2.3089647584129125e-05,
                    "y": 0.0002480746479704976,
                    "z": -0.00026328364037908614
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0002464688732288778,
        "expert_target_speed": 10.0,
        "target_point": [
            18.57433464671353,
            0.05606932972175649
        ],
        "target_point_next": [
            69.57399538424602,
            0.23394299946285635
        ]
    },
    "100": {
        "acceleration": [
            0.6718826293945312,
            -0.000762939453125,
            -0.026537179946899414
        ],
        "angular_velocity": [
            0.19944103062152863,
            -0.9697814583778381,
            -1.0268373489379883
        ],
        "forward_vector": [
            -0.987087070941925,
            -0.15915505588054657,
            0.01813240721821785
        ],
        "right_vector": [
            0.15919414162635803,
            -0.9872470498085022,
            0.0007242606370709836
        ],
        "location": [
            1222.378662109375,
            4093.586669921875,
            364.7600402832031
        ],
        "rotation": [
            -0.04150390625,
            1.0389673709869385,
            -170.8406219482422
        ],
        "velocity": [
            -11.122329711914062,
            -1.8003177642822266,
            0.1613011360168457
        ],
        "speed": 11.267092006055355,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.32652282714844,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1174.688720703125,
                4085.802490234375,
                365.4870300292969
            ],
            "velocity": [
                -0.6828745007514954,
                -0.11935554444789886,
                0.010967320762574673
            ],
            "speed_kmh": 2.4959286067749034,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9894561767578125,
                "transform": {
                    "location": {
                        "x": 1256.6910400390625,
                        "y": 4099.0849609375,
                        "z": 364.2590026855469
                    },
                    "rotation": {
                        "roll": -0.0009765648283064365,
                        "pitch": 0.9516023993492126,
                        "yaw": -170.57330322265625
                    }
                },
                "velocity": {
                    "x": -6.8956122398376465,
                    "y": -1.136670708656311,
                    "z": 0.10491718351840973
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4178,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.128887176513672,
                "transform": {
                    "location": {
                        "x": 1173.88916015625,
                        "y": 4088.81982421875,
                        "z": 365.48883056640625
                    },
                    "rotation": {
                        "roll": 0.006346317008137703,
                        "pitch": -0.9047199487686157,
                        "yaw": 9.571261405944824
                    }
                },
                "velocity": {
                    "x": 8.015021324157715,
                    "y": 1.34979248046875,
                    "z": -0.12764626741409302
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054774284362793,
                "transform": {
                    "location": {
                        "x": 1215.3900146484375,
                        "y": 4095.594970703125,
                        "z": 364.85858154296875
                    },
                    "rotation": {
                        "roll": 0.0010537818307057023,
                        "pitch": -0.8349632620811462,
                        "yaw": 9.220671653747559
                    }
                },
                "velocity": {
                    "x": 7.949696063995361,
                    "y": 1.2916620969772339,
                    "z": -0.11549443751573563
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.03787899017334,
                "transform": {
                    "location": {
                        "x": 1240.532958984375,
                        "y": 4096.4404296875,
                        "z": 364.4938049316406
                    },
                    "rotation": {
                        "roll": 0.00113474833779037,
                        "pitch": 1.2954751253128052,
                        "yaw": -170.7740478515625
                    }
                },
                "velocity": {
                    "x": -10.893922805786133,
                    "y": -1.769425868988037,
                    "z": 0.16235126554965973
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6933135390281677,
                "transform": {
                    "location": {
                        "x": 1174.688720703125,
                        "y": 4085.802490234375,
                        "z": 365.4870300292969
                    },
                    "rotation": {
                        "roll": 0.010259377770125866,
                        "pitch": 0.7704384922981262,
                        "yaw": -169.90769958496094
                    }
                },
                "velocity": {
                    "x": -0.6828745007514954,
                    "y": -0.11935554444789886,
                    "z": 0.010967320762574673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007778704166412354,
                "transform": {
                    "location": {
                        "x": 1163.8436279296875,
                        "y": 4084.07275390625,
                        "z": 365.66229248046875
                    },
                    "rotation": {
                        "roll": 6.680980004603043e-05,
                        "pitch": 0.9239196181297302,
                        "yaw": -170.76513671875
                    }
                },
                "velocity": {
                    "x": 9.648799277783837e-06,
                    "y": 6.544370262417942e-05,
                    "z": -0.0007750525255687535
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0010096881305798888,
        "expert_target_speed": 10.0,
        "target_point": [
            15.760115274621679,
            0.017388466005079817
        ],
        "target_point_next": [
            66.7600422472369,
            0.08434497215479908
        ]
    },
    "105": {
        "acceleration": [
            2.0347213745117188,
            0.24753808975219727,
            -0.02771049737930298
        ],
        "angular_velocity": [
            0.14194269478321075,
            -0.7765377759933472,
            2.1728711128234863
        ],
        "forward_vector": [
            -0.9867716431617737,
            -0.1615247279405594,
            0.013835703022778034
        ],
        "right_vector": [
            0.16154837608337402,
            -0.9868645668029785,
            0.0006018165149725974
        ],
        "location": [
            1219.65185546875,
            4093.143310546875,
            364.8005065917969
        ],
        "rotation": [
            -0.034484852105379105,
            0.7927526831626892,
            -170.7036895751953
        ],
        "velocity": [
            -10.681702613830566,
            -1.7507977485656738,
            0.15645094215869904
        ],
        "speed": 10.82423500699691,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.8587646484375,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1174.3980712890625,
                4085.751220703125,
                365.491943359375
            ],
            "velocity": [
                -1.5444196462631226,
                -0.2721575200557709,
                0.025434112176299095
            ],
            "speed_kmh": 5.646320443438365,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.452018737792969,
                "transform": {
                    "location": {
                        "x": 1255.07275390625,
                        "y": 4098.81787109375,
                        "z": 364.2839660644531
                    },
                    "rotation": {
                        "roll": 0.0004667765460908413,
                        "pitch": 0.9378737211227417,
                        "yaw": -170.62442016601562
                    }
                },
                "velocity": {
                    "x": -6.3656768798828125,
                    "y": -1.0475815534591675,
                    "z": 0.09629661589860916
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4178,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.339832305908203,
                "transform": {
                    "location": {
                        "x": 1175.9207763671875,
                        "y": 4089.158447265625,
                        "z": 365.45660400390625
                    },
                    "rotation": {
                        "roll": 0.018076010048389435,
                        "pitch": -0.8971521258354187,
                        "yaw": 9.443599700927734
                    }
                },
                "velocity": {
                    "x": 8.226768493652344,
                    "y": 1.3623905181884766,
                    "z": -0.13025450706481934
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058759689331055,
                "transform": {
                    "location": {
                        "x": 1217.377685546875,
                        "y": 4095.917724609375,
                        "z": 364.82958984375
                    },
                    "rotation": {
                        "roll": -0.0007934520835988224,
                        "pitch": -0.8284609317779541,
                        "yaw": 9.251099586486816
                    }
                },
                "velocity": {
                    "x": 7.953398704528809,
                    "y": 1.293683409690857,
                    "z": -0.11592277884483337
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.842616081237793,
                "transform": {
                    "location": {
                        "x": 1237.817138671875,
                        "y": 4095.9990234375,
                        "z": 364.5351867675781
                    },
                    "rotation": {
                        "roll": -0.0007934546447359025,
                        "pitch": 0.9917775392532349,
                        "yaw": -170.76504516601562
                    }
                },
                "velocity": {
                    "x": -10.700772285461426,
                    "y": -1.7409662008285522,
                    "z": 0.15760567784309387
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5684223175048828,
                "transform": {
                    "location": {
                        "x": 1174.3980712890625,
                        "y": 4085.751220703125,
                        "z": 365.491943359375
                    },
                    "rotation": {
                        "roll": 0.012532704509794712,
                        "pitch": 0.9842302203178406,
                        "yaw": -169.9313201904297
                    }
                },
                "velocity": {
                    "x": -1.5444196462631226,
                    "y": -0.2721575200557709,
                    "z": 0.025434112176299095
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00036516989348456264,
                "transform": {
                    "location": {
                        "x": 1163.8436279296875,
                        "y": 4084.07275390625,
                        "z": 365.66229248046875
                    },
                    "rotation": {
                        "roll": 6.680980004603043e-05,
                        "pitch": 0.9239196181297302,
                        "yaw": -170.76513671875
                    }
                },
                "velocity": {
                    "x": 1.658126711845398e-05,
                    "y": -2.5936122256098315e-05,
                    "z": -0.000363870058208704
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.00515074422582984,
        "expert_target_speed": 10.0,
        "target_point": [
            12.997498328494704,
            -0.01733082999268465
        ],
        "target_point_next": [
            63.99743964759994,
            -0.07228384285255984
        ]
    },
    "110": {
        "acceleration": [
            0.07001876831054688,
            0.018825531005859375,
            0.009436309337615967
        ],
        "angular_velocity": [
            0.016355367377400398,
            0.25914502143859863,
            -1.85723078250885
        ],
        "forward_vector": [
            -0.9867023825645447,
            -0.16199533641338348,
            0.0132578294724226
        ],
        "right_vector": [
            0.1620131880044937,
            -0.9867885112762451,
            0.0002769444545265287
        ],
        "location": [
            1217.012939453125,
            4092.710205078125,
            364.83905029296875
        ],
        "rotation": [
            -0.0158691443502903,
            0.7596399188041687,
            -170.6764373779297
        ],
        "velocity": [
            -10.512804985046387,
            -1.725820779800415,
            0.154288187623024
        ],
        "speed": 10.653521765951721,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.69842529296875,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1173.891357421875,
                4085.664306640625,
                365.5
            ],
            "velocity": [
                -2.3602206707000732,
                -0.4035175144672394,
                0.036827392876148224
            ],
            "speed_kmh": 8.621097514498441,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9532880783081055,
                "transform": {
                    "location": {
                        "x": 1253.434326171875,
                        "y": 4098.5478515625,
                        "z": 364.30975341796875
                    },
                    "rotation": {
                        "roll": 0.001029830309562385,
                        "pitch": 0.8218561410903931,
                        "yaw": -170.65049743652344
                    }
                },
                "velocity": {
                    "x": -6.859898090362549,
                    "y": -1.1309847831726074,
                    "z": 0.10435182601213455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4178,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.15560531616211,
                "transform": {
                    "location": {
                        "x": 1177.9539794921875,
                        "y": 4089.494384765625,
                        "z": 365.4245300292969
                    },
                    "rotation": {
                        "roll": 0.01080309972167015,
                        "pitch": -0.9055464267730713,
                        "yaw": 9.384860038757324
                    }
                },
                "velocity": {
                    "x": 8.045761108398438,
                    "y": 1.3279980421066284,
                    "z": -0.12666253745555878
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057861328125,
                "transform": {
                    "location": {
                        "x": 1219.3662109375,
                        "y": 4096.24169921875,
                        "z": 364.8006591796875
                    },
                    "rotation": {
                        "roll": 0.0001684109738562256,
                        "pitch": -0.8251619338989258,
                        "yaw": 9.22373104095459
                    }
                },
                "velocity": {
                    "x": 7.952602863311768,
                    "y": 1.2930172681808472,
                    "z": -0.11551705002784729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.892952919006348,
                "transform": {
                    "location": {
                        "x": 1235.217041015625,
                        "y": 4095.575927734375,
                        "z": 364.57470703125
                    },
                    "rotation": {
                        "roll": -0.0007019055192358792,
                        "pitch": 0.6626102924346924,
                        "yaw": -170.757568359375
                    }
                },
                "velocity": {
                    "x": -9.763494491577148,
                    "y": -1.5887452363967896,
                    "z": 0.14347022771835327
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.394749402999878,
                "transform": {
                    "location": {
                        "x": 1173.891357421875,
                        "y": 4085.664306640625,
                        "z": 365.5
                    },
                    "rotation": {
                        "roll": 0.014911236241459846,
                        "pitch": 1.029630422592163,
                        "yaw": -170.08509826660156
                    }
                },
                "velocity": {
                    "x": -2.3602206707000732,
                    "y": -0.4035175144672394,
                    "z": 0.036827392876148224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2162455320358276,
                "transform": {
                    "location": {
                        "x": 1163.7310791015625,
                        "y": 4084.053466796875,
                        "z": 365.66412353515625
                    },
                    "rotation": {
                        "roll": -0.0044555701315402985,
                        "pitch": 1.121155023574829,
                        "yaw": -170.72052001953125
                    }
                },
                "velocity": {
                    "x": -1.1989303827285767,
                    "y": -0.20357699692249298,
                    "z": 0.019379930570721626
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.009105311706662178,
        "expert_target_speed": 10.0,
        "target_point": [
            10.323267600620037,
            -0.0233637923552259
        ],
        "target_point_next": [
            61.32317703141269,
            -0.10256250917766074
        ]
    },
    "115": {
        "acceleration": [
            -0.5255699157714844,
            -0.06033658981323242,
            0.003701448440551758
        ],
        "angular_velocity": [
            -0.0356207937002182,
            0.2832043468952179,
            1.5921308994293213
        ],
        "forward_vector": [
            -0.9867167472839355,
            -0.1617920845746994,
            0.01460667047649622
        ],
        "right_vector": [
            0.16181012988090515,
            -0.9868218898773193,
            5.325756501406431e-05
        ],
        "location": [
            1214.3768310546875,
            4092.278076171875,
            364.87750244140625
        ],
        "rotation": [
            -0.003051759209483862,
            0.8369303345680237,
            -170.6880645751953
        ],
        "velocity": [
            -10.58974838256836,
            -1.7334537506103516,
            0.15445388853549957
        ],
        "speed": 10.730686497685705,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.40079879760742,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1173.5228271484375,
                4085.60107421875,
                365.5053405761719
            ],
            "velocity": [
                -0.0017828057752922177,
                -0.00032661191653460264,
                0.0003599606279749423
            ],
            "speed_kmh": 0.006652351377857479,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1139.8253173828125,
                        "y": 4083.206787109375,
                        "z": 366.1595153808594
                    },
                    "rotation": {
                        "roll": 6.671045493789052e-09,
                        "pitch": -0.9611510038375854,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.441457748413086,
                "transform": {
                    "location": {
                        "x": 1251.5958251953125,
                        "y": 4098.24609375,
                        "z": 364.3384704589844
                    },
                    "rotation": {
                        "roll": -0.00030517447157762945,
                        "pitch": 0.7155169248580933,
                        "yaw": -170.69020080566406
                    }
                },
                "velocity": {
                    "x": -8.329793930053711,
                    "y": -1.362618088722229,
                    "z": 0.12658488750457764
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4178,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.349413871765137,
                "transform": {
                    "location": {
                        "x": 1179.990478515625,
                        "y": 4089.830322265625,
                        "z": 365.3923645019531
                    },
                    "rotation": {
                        "roll": 0.00881978776305914,
                        "pitch": -0.8939487934112549,
                        "yaw": 9.355628967285156
                    }
                },
                "velocity": {
                    "x": 8.238137245178223,
                    "y": 1.3524051904678345,
                    "z": -0.129648819565773
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056379318237305,
                "transform": {
                    "location": {
                        "x": 1221.3541259765625,
                        "y": 4096.5654296875,
                        "z": 364.7718200683594
                    },
                    "rotation": {
                        "roll": 4.822987102670595e-05,
                        "pitch": -0.8252780437469482,
                        "yaw": 9.255946159362793
                    }
                },
                "velocity": {
                    "x": 7.95107889175415,
                    "y": 1.293184518814087,
                    "z": -0.11518018692731857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.370505332946777,
                "transform": {
                    "location": {
                        "x": 1232.8919677734375,
                        "y": 4095.19775390625,
                        "z": 364.6091613769531
                    },
                    "rotation": {
                        "roll": -0.000488281948491931,
                        "pitch": 0.5621860027313232,
                        "yaw": -170.7625274658203
                    }
                },
                "velocity": {
                    "x": -9.248006820678711,
                    "y": -1.5041183233261108,
                    "z": 0.13550512492656708
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0018478753045201302,
                "transform": {
                    "location": {
                        "x": 1173.5228271484375,
                        "y": 4085.60107421875,
                        "z": 365.5053405761719
                    },
                    "rotation": {
                        "roll": 0.008227799087762833,
                        "pitch": 0.6160625219345093,
                        "yaw": -170.3097686767578
                    }
                },
                "velocity": {
                    "x": -0.0017828057752922177,
                    "y": -0.00032661191653460264,
                    "z": 0.0003599606279749423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.567955255508423,
                "transform": {
                    "location": {
                        "x": 1163.253662109375,
                        "y": 4083.9716796875,
                        "z": 365.67193603515625
                    },
                    "rotation": {
                        "roll": -0.0038452267181128263,
                        "pitch": 1.1910687685012817,
                        "yaw": -170.6042022705078
                    }
                },
                "velocity": {
                    "x": -2.5308215618133545,
                    "y": -0.43318116664886475,
                    "z": 0.04111139103770256
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.007987241260707378,
        "expert_target_speed": 10.0,
        "target_point": [
            7.6519797745725935,
            -0.021154493329524238
        ],
        "target_point_next": [
            58.65190424100755,
            -0.08999346288766041
        ]
    },
    "120": {
        "acceleration": [
            -0.7895088195800781,
            -0.10679006576538086,
            0.019669830799102783
        ],
        "angular_velocity": [
            -0.017708051949739456,
            0.1727917194366455,
            -1.774683952331543
        ],
        "forward_vector": [
            -0.9868444204330444,
            -0.16091607511043549,
            0.015624124556779861
        ],
        "right_vector": [
            0.16093440353870392,
            -0.9869651198387146,
            -8.542497380403802e-05
        ],
        "location": [
            1211.7069091796875,
            4091.841796875,
            364.9163513183594
        ],
        "rotation": [
            0.004895087797194719,
            0.8952328562736511,
            -170.73878479003906
        ],
        "velocity": [
            -10.767376899719238,
            -1.7562264204025269,
            0.1580600142478943
        ],
        "speed": 10.90966253100101,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 38.741153717041016,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1173.4775390625,
                4085.59326171875,
                365.50634765625
            ],
            "velocity": [
                -0.5367814898490906,
                -0.09134814143180847,
                0.008974113501608372
            ],
            "speed_kmh": 1.9604615875069575,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1141.8797607421875,
                        "y": 4083.541259765625,
                        "z": 366.0758056640625
                    },
                    "rotation": {
                        "roll": 6.671045493789052e-09,
                        "pitch": -0.9611510038375854,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.376758575439453,
                "transform": {
                    "location": {
                        "x": 1249.36767578125,
                        "y": 4097.88134765625,
                        "z": 364.37213134765625
                    },
                    "rotation": {
                        "roll": 0.0007242463761940598,
                        "pitch": 0.7351058721542358,
                        "yaw": -170.69793701171875
                    }
                },
                "velocity": {
                    "x": -9.252955436706543,
                    "y": -1.5122703313827515,
                    "z": 0.1394478976726532
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4178,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.157872200012207,
                "transform": {
                    "location": {
                        "x": 1182.0255126953125,
                        "y": 4090.164306640625,
                        "z": 365.36053466796875
                    },
                    "rotation": {
                        "roll": 0.0077223689295351505,
                        "pitch": -0.9034973978996277,
                        "yaw": 9.306846618652344
                    }
                },
                "velocity": {
                    "x": 8.049778938293457,
                    "y": 1.3175294399261475,
                    "z": -0.12671233713626862
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05868911743164,
                "transform": {
                    "location": {
                        "x": 1223.34228515625,
                        "y": 4096.88720703125,
                        "z": 364.7430114746094
                    },
                    "rotation": {
                        "roll": 0.0006945901550352573,
                        "pitch": -0.8250389695167542,
                        "yaw": 9.213688850402832
                    }
                },
                "velocity": {
                    "x": 7.953494548797607,
                    "y": 1.2927483320236206,
                    "z": -0.11489347368478775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.091347694396973,
                "transform": {
                    "location": {
                        "x": 1230.5159912109375,
                        "y": 4094.811767578125,
                        "z": 364.64263916015625
                    },
                    "rotation": {
                        "roll": 0.0008853496983647346,
                        "pitch": 0.8887919783592224,
                        "yaw": -170.7710723876953
                    }
                },
                "velocity": {
                    "x": -9.959664344787598,
                    "y": -1.6184065341949463,
                    "z": 0.1454378068447113
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.544572651386261,
                "transform": {
                    "location": {
                        "x": 1173.4775390625,
                        "y": 4085.59326171875,
                        "z": 365.50634765625
                    },
                    "rotation": {
                        "roll": 0.008434942923486233,
                        "pitch": 0.8735401630401611,
                        "yaw": -170.29776000976562
                    }
                },
                "velocity": {
                    "x": -0.5367814898490906,
                    "y": -0.09134814143180847,
                    "z": 0.008974113501608372
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.1707963943481445,
                "transform": {
                    "location": {
                        "x": 1162.4134521484375,
                        "y": 4083.827392578125,
                        "z": 365.68560791015625
                    },
                    "rotation": {
                        "roll": -0.0022582958918064833,
                        "pitch": 1.2435178756713867,
                        "yaw": -170.44146728515625
                    }
                },
                "velocity": {
                    "x": -4.109907150268555,
                    "y": -0.7070053815841675,
                    "z": 0.06596042215824127
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.008207152597606182,
        "expert_target_speed": 10.0,
        "target_point": [
            55.94662884434011,
            -0.03899223043680422
        ],
        "target_point_next": [
            92.94668294595088,
            -0.056104806975449506
        ]
    },
    "125": {
        "acceleration": [
            -0.6081962585449219,
            -0.067596435546875,
            0.034748613834381104
        ],
        "angular_velocity": [
            0.03733177110552788,
            0.06707997620105743,
            1.443598985671997
        ],
        "forward_vector": [
            -0.9868900775909424,
            -0.16058923304080963,
            0.016092676669359207
        ],
        "right_vector": [
            0.16060791909694672,
            -0.9870182871818542,
            -0.00013341101293917745
        ],
        "location": [
            1208.9896240234375,
            4091.399169921875,
            364.9561767578125
        ],
        "rotation": [
            0.007644878700375557,
            0.9220823049545288,
            -170.7576904296875
        ],
        "velocity": [
            -10.9536714553833,
            -1.7794121503829956,
            0.16142109036445618
        ],
        "speed": 11.097262092669956,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.221431732177734,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1173.2471923828125,
                4085.55419921875,
                365.51025390625
            ],
            "velocity": [
                -1.3145389556884766,
                -0.22277504205703735,
                0.019741086289286613
            ],
            "speed_kmh": 4.800341967248411,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.137228965759277,
                "transform": {
                    "location": {
                        "x": 1143.8909912109375,
                        "y": 4083.880126953125,
                        "z": 365.9979553222656
                    },
                    "rotation": {
                        "roll": -0.0372009240090847,
                        "pitch": -0.9779601097106934,
                        "yaw": 9.677379608154297
                    }
                },
                "velocity": {
                    "x": 8.014312744140625,
                    "y": 1.389406442642212,
                    "z": -0.23416392505168915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.140727043151855,
                "transform": {
                    "location": {
                        "x": 1246.9608154296875,
                        "y": 4097.4873046875,
                        "z": 364.4080505371094
                    },
                    "rotation": {
                        "roll": 0.00011271487892372534,
                        "pitch": 0.7666887044906616,
                        "yaw": -170.72003173828125
                    }
                },
                "velocity": {
                    "x": -10.007511138916016,
                    "y": -1.6313897371292114,
                    "z": 0.15044113993644714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057717323303223,
                "transform": {
                    "location": {
                        "x": 1225.33056640625,
                        "y": 4097.2109375,
                        "z": 364.71417236328125
                    },
                    "rotation": {
                        "roll": -0.00018310005543753505,
                        "pitch": -0.825011670589447,
                        "yaw": 9.256654739379883
                    }
                },
                "velocity": {
                    "x": 7.952288627624512,
                    "y": 1.2940881252288818,
                    "z": -0.11507932096719742
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.965314865112305,
                "transform": {
                    "location": {
                        "x": 1227.8656005859375,
                        "y": 4094.381103515625,
                        "z": 364.68017578125
                    },
                    "rotation": {
                        "roll": -0.0017395062604919076,
                        "pitch": 1.159363031387329,
                        "yaw": -170.7683868408203
                    }
                },
                "velocity": {
                    "x": -10.821975708007812,
                    "y": -1.7601405382156372,
                    "z": 0.1577245146036148
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3334283828735352,
                "transform": {
                    "location": {
                        "x": 1173.2471923828125,
                        "y": 4085.55419921875,
                        "z": 365.51025390625
                    },
                    "rotation": {
                        "roll": 0.007515194360166788,
                        "pitch": 0.9919073581695557,
                        "yaw": -170.2987823486328
                    }
                },
                "velocity": {
                    "x": -1.3145389556884766,
                    "y": -0.22277504205703735,
                    "z": 0.019741086289286613
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.366826057434082,
                "transform": {
                    "location": {
                        "x": 1161.2099609375,
                        "y": 4083.6201171875,
                        "z": 365.7055358886719
                    },
                    "rotation": {
                        "roll": 0.00186452257912606,
                        "pitch": 1.2081716060638428,
                        "yaw": -170.29440307617188
                    }
                },
                "velocity": {
                    "x": -5.287692546844482,
                    "y": -0.914142370223999,
                    "z": 0.08644989132881165
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 0.736931324005127,
                "transform": {
                    "location": {
                        "x": 1187.20166015625,
                        "y": 4084.802978515625,
                        "z": 366.4031982421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.06132812425494194,
                    "y": 0.734375,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.007455845363438129,
        "expert_target_speed": 10.0,
        "target_point": [
            53.19353913328055,
            -0.020988659722656067
        ],
        "target_point_next": [
            90.1935968672479,
            -0.02589227910062597
        ]
    },
    "130": {
        "acceleration": [
            2.2895050048828125,
            0.3956151008605957,
            -0.046504437923431396
        ],
        "angular_velocity": [
            0.05422890931367874,
            -0.7487890124320984,
            -1.8795921802520752
        ],
        "forward_vector": [
            -0.987061083316803,
            -0.159699484705925,
            0.014367680996656418
        ],
        "right_vector": [
            0.15971368551254272,
            -0.9871633648872375,
            -0.00016163731925189495
        ],
        "location": [
            1206.277587890625,
            4090.959716796875,
            364.996826171875
        ],
        "rotation": [
            0.009262092411518097,
            0.823235809803009,
            -170.80958557128906
        ],
        "velocity": [
            -10.635872840881348,
            -1.7212848663330078,
            0.15855172276496887
        ],
        "speed": 10.774256943217221,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.941165924072266,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1172.786376953125,
                4085.47607421875,
                365.51763916015625
            ],
            "velocity": [
                -2.2464816570281982,
                -0.38027769327163696,
                0.03574056550860405
            ],
            "speed_kmh": 8.203394771808556,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.142586708068848,
                "transform": {
                    "location": {
                        "x": 1145.895751953125,
                        "y": 4084.226806640625,
                        "z": 365.95233154296875
                    },
                    "rotation": {
                        "roll": -0.015106192789971828,
                        "pitch": -0.9638625979423523,
                        "yaw": 9.793745994567871
                    }
                },
                "velocity": {
                    "x": 8.02337646484375,
                    "y": 1.379721999168396,
                    "z": -0.15331856906414032
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.575103759765625,
                "transform": {
                    "location": {
                        "x": 1244.3804931640625,
                        "y": 4097.06689453125,
                        "z": 364.4465026855469
                    },
                    "rotation": {
                        "roll": 0.00014964464935474098,
                        "pitch": 0.7882447838783264,
                        "yaw": -170.74142456054688
                    }
                },
                "velocity": {
                    "x": -10.436224937438965,
                    "y": -1.7011282444000244,
                    "z": 0.15552107989788055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058395385742188,
                "transform": {
                    "location": {
                        "x": 1227.318603515625,
                        "y": 4097.53466796875,
                        "z": 364.6852722167969
                    },
                    "rotation": {
                        "roll": 3.68961991625838e-05,
                        "pitch": -0.8270539045333862,
                        "yaw": 9.221941947937012
                    }
                },
                "velocity": {
                    "x": 7.953190326690674,
                    "y": 1.2926548719406128,
                    "z": -0.11633564531803131
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.661458015441895,
                "transform": {
                    "location": {
                        "x": 1225.197998046875,
                        "y": 4093.947021484375,
                        "z": 364.7200012207031
                    },
                    "rotation": {
                        "roll": -0.00024413490609731525,
                        "pitch": 0.8834712505340576,
                        "yaw": -170.76473999023438
                    }
                },
                "velocity": {
                    "x": -10.522195816040039,
                    "y": -1.7108001708984375,
                    "z": 0.15249241888523102
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2787208557128906,
                "transform": {
                    "location": {
                        "x": 1172.786376953125,
                        "y": 4085.47607421875,
                        "z": 365.51763916015625
                    },
                    "rotation": {
                        "roll": 0.006872936151921749,
                        "pitch": 1.0431747436523438,
                        "yaw": -170.32174682617188
                    }
                },
                "velocity": {
                    "x": -2.2464816570281982,
                    "y": -0.38027769327163696,
                    "z": 0.03574056550860405
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.522312164306641,
                "transform": {
                    "location": {
                        "x": 1159.8670654296875,
                        "y": 4083.38720703125,
                        "z": 365.7273864746094
                    },
                    "rotation": {
                        "roll": 0.004881849512457848,
                        "pitch": 1.0452101230621338,
                        "yaw": -170.15249633789062
                    }
                },
                "velocity": {
                    "x": -5.439906120300293,
                    "y": -0.9463779330253601,
                    "z": 0.08785642683506012
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.473830223083496,
                "transform": {
                    "location": {
                        "x": 1187.2261962890625,
                        "y": 4085.0966796875,
                        "z": 366.402099609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.12226562201976776,
                    "y": 1.46875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.004865671508014202,
        "expert_target_speed": 10.0,
        "target_point": [
            50.44612688269499,
            0.02654742694772061
        ],
        "target_point_next": [
            87.44617387412121,
            0.05516550952448007
        ]
    },
    "135": {
        "acceleration": [
            8.182411193847656,
            1.3322091102600098,
            -0.13068169355392456
        ],
        "angular_velocity": [
            0.44642889499664307,
            -2.2817862033843994,
            0.9242743849754333
        ],
        "forward_vector": [
            -0.9871455430984497,
            -0.15953299403190613,
            0.00963565707206726
        ],
        "right_vector": [
            0.15953874588012695,
            -0.9871916174888611,
            -0.00017439619114156812
        ],
        "location": [
            1203.710693359375,
            4090.544921875,
            365.0364074707031
        ],
        "rotation": [
            0.009992629289627075,
            0.5520910024642944,
            -170.8197784423828
        ],
        "velocity": [
            -9.489116668701172,
            -1.5295053720474243,
            0.14244572818279266
        ],
        "speed": 9.611593095597854,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.68227195739746,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1172.4495849609375,
                4085.419189453125,
                365.5224609375
            ],
            "velocity": [
                -0.0005265740910544991,
                -0.0004921776708215475,
                0.0007805346394889057
            ],
            "speed_kmh": 0.003824741141020636,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.185081481933594,
                "transform": {
                    "location": {
                        "x": 1147.9073486328125,
                        "y": 4084.57177734375,
                        "z": 365.91632080078125
                    },
                    "rotation": {
                        "roll": -0.005767817609012127,
                        "pitch": -0.9564449787139893,
                        "yaw": 9.723949432373047
                    }
                },
                "velocity": {
                    "x": 8.066547393798828,
                    "y": 1.3809369802474976,
                    "z": -0.13919797539710999
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.027462005615234,
                "transform": {
                    "location": {
                        "x": 1241.832763671875,
                        "y": 4096.65185546875,
                        "z": 364.48382568359375
                    },
                    "rotation": {
                        "roll": -0.0007629361934959888,
                        "pitch": 0.8776246309280396,
                        "yaw": -170.75782775878906
                    }
                },
                "velocity": {
                    "x": -9.896523475646973,
                    "y": -1.6084632873535156,
                    "z": 0.14718174934387207
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057732582092285,
                "transform": {
                    "location": {
                        "x": 1229.306884765625,
                        "y": 4097.85888671875,
                        "z": 364.6562805175781
                    },
                    "rotation": {
                        "roll": 0.00030385522404685616,
                        "pitch": -0.8301411271095276,
                        "yaw": 9.252860069274902
                    }
                },
                "velocity": {
                    "x": 7.95246696472168,
                    "y": 1.293070912361145,
                    "z": -0.1152891293168068
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.190629959106445,
                "transform": {
                    "location": {
                        "x": 1222.6253662109375,
                        "y": 4093.529296875,
                        "z": 364.7578430175781
                    },
                    "rotation": {
                        "roll": -0.0006408618646673858,
                        "pitch": 0.7261105179786682,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": -10.057516098022461,
                    "y": -1.635217547416687,
                    "z": 0.14614637196063995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010624281130731106,
                "transform": {
                    "location": {
                        "x": 1172.4495849609375,
                        "y": 4085.419189453125,
                        "z": 365.5224609375
                    },
                    "rotation": {
                        "roll": 0.0055125197395682335,
                        "pitch": 0.6306313276290894,
                        "yaw": -170.42164611816406
                    }
                },
                "velocity": {
                    "x": -0.0005265740910544991,
                    "y": -0.0004921776708215475,
                    "z": 0.0007805346394889057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.749136924743652,
                "transform": {
                    "location": {
                        "x": 1158.2373046875,
                        "y": 4083.107421875,
                        "z": 365.7541198730469
                    },
                    "rotation": {
                        "roll": 0.022852294147014618,
                        "pitch": 1.3092447519302368,
                        "yaw": -170.2746124267578
                    }
                },
                "velocity": {
                    "x": -7.638825416564941,
                    "y": -1.2968270778656006,
                    "z": 0.12534645199775696
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.2647705078125,
                        "y": 4085.560546875,
                        "z": 366.40032958984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.005024997051805258,
        "expert_target_speed": 9.291703724705904,
        "target_point": [
            47.84592860863846,
            0.035560809318753606
        ],
        "target_point_next": [
            84.84596992481033,
            0.0707597293864275
        ]
    },
    "140": {
        "acceleration": [
            3.744678497314453,
            0.6131219863891602,
            -0.06328731775283813
        ],
        "angular_velocity": [
            -0.13105367124080658,
            0.1772000640630722,
            -0.45041215419769287
        ],
        "forward_vector": [
            -0.987230122089386,
            -0.15919524431228638,
            0.00580271752551198
        ],
        "right_vector": [
            0.1591975837945938,
            -0.9872467517852783,
            -5.997618427500129e-05
        ],
        "location": [
            1201.532470703125,
            4090.1943359375,
            365.0699462890625
        ],
        "rotation": [
            0.0034364399034529924,
            0.33247309923171997,
            -170.83966064453125
        ],
        "velocity": [
            -8.1690673828125,
            -1.3150445222854614,
            0.12280473113059998
        ],
        "speed": 8.274237366701783,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.65239715576172,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1172.275390625,
                4085.39013671875,
                365.5256042480469
            ],
            "velocity": [
                -1.1850169897079468,
                -0.199777290225029,
                0.0188096035271883
            ],
            "speed_kmh": 4.326789713484124,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.189826011657715,
                "transform": {
                    "location": {
                        "x": 1149.9249267578125,
                        "y": 4084.916259765625,
                        "z": 365.8819885253906
                    },
                    "rotation": {
                        "roll": -0.0001525928091723472,
                        "pitch": -0.946104109287262,
                        "yaw": 9.673918724060059
                    }
                },
                "velocity": {
                    "x": 8.07392406463623,
                    "y": 1.3660719394683838,
                    "z": -0.1373186856508255
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.252019882202148,
                "transform": {
                    "location": {
                        "x": 1239.4461669921875,
                        "y": 4096.26416015625,
                        "z": 364.51910400390625
                    },
                    "rotation": {
                        "roll": 0.00032560821273364127,
                        "pitch": 0.9017898440361023,
                        "yaw": -170.76661682128906
                    }
                },
                "velocity": {
                    "x": -9.130904197692871,
                    "y": -1.4859395027160645,
                    "z": 0.13581424951553345
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058272361755371,
                "transform": {
                    "location": {
                        "x": 1231.295166015625,
                        "y": 4098.181640625,
                        "z": 364.6272888183594
                    },
                    "rotation": {
                        "roll": 0.0009393095970153809,
                        "pitch": -0.8302367925643921,
                        "yaw": 9.213652610778809
                    }
                },
                "velocity": {
                    "x": 7.953285217285156,
                    "y": 1.291380763053894,
                    "z": -0.11553847044706345
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.496685981750488,
                "transform": {
                    "location": {
                        "x": 1220.2901611328125,
                        "y": 4093.149169921875,
                        "z": 364.7931823730469
                    },
                    "rotation": {
                        "roll": -0.0008850067970342934,
                        "pitch": 0.33875003457069397,
                        "yaw": -170.7627410888672
                    }
                },
                "velocity": {
                    "x": -8.385634422302246,
                    "y": -1.363843560218811,
                    "z": 0.12143844366073608
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2018860578536987,
                "transform": {
                    "location": {
                        "x": 1172.275390625,
                        "y": 4085.39013671875,
                        "z": 365.5256042480469
                    },
                    "rotation": {
                        "roll": 0.004480886738747358,
                        "pitch": 0.9454962015151978,
                        "yaw": -170.44874572753906
                    }
                },
                "velocity": {
                    "x": -1.1850169897079468,
                    "y": -0.199777290225029,
                    "z": 0.0188096035271883
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.084710121154785,
                "transform": {
                    "location": {
                        "x": 1156.2176513671875,
                        "y": 4082.76611328125,
                        "z": 365.78729248046875
                    },
                    "rotation": {
                        "roll": 0.014868496917188168,
                        "pitch": 1.0858770608901978,
                        "yaw": -170.39321899414062
                    }
                },
                "velocity": {
                    "x": -7.971124172210693,
                    "y": -1.3439544439315796,
                    "z": 0.1322874277830124
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.3062744140625,
                        "y": 4086.05859375,
                        "z": 366.2469177246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.33805492520332336,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0027836693916469812,
        "expert_target_speed": 8.283630819884074,
        "target_point": [
            45.63965772671689,
            0.05282281643093256
        ],
        "target_point_next": [
            82.63968459469157,
            0.10086583415558259
        ]
    },
    "145": {
        "acceleration": [
            0.8022308349609375,
            0.14667510986328125,
            -0.00853613018989563
        ],
        "angular_velocity": [
            -0.1332123726606369,
            0.943355917930603,
            0.11596070230007172
        ],
        "forward_vector": [
            -0.9872685670852661,
            -0.1587872952222824,
            0.009346586652100086
        ],
        "right_vector": [
            0.15879365801811218,
            -0.987311840057373,
            -6.287462747422978e-05
        ],
        "location": [
            1199.5516357421875,
            4089.87548828125,
            365.0988464355469
        ],
        "rotation": [
            0.003602608572691679,
            0.535527765750885,
            -170.8630828857422
        ],
        "velocity": [
            -7.78091287612915,
            -1.2494632005691528,
            0.11764001846313477
        ],
        "speed": 7.880594106759268,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.067352294921875,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1171.85986328125,
                4085.31982421875,
                365.53228759765625
            ],
            "velocity": [
                -2.107985734939575,
                -0.3568026125431061,
                0.03316431865096092
            ],
            "speed_kmh": 7.69761478526631,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.231647491455078,
                "transform": {
                    "location": {
                        "x": 1151.9493408203125,
                        "y": 4085.255615234375,
                        "z": 365.84808349609375
                    },
                    "rotation": {
                        "roll": 0.0038289837539196014,
                        "pitch": -0.9466573596000671,
                        "yaw": 9.506067276000977
                    }
                },
                "velocity": {
                    "x": 8.11809253692627,
                    "y": 1.3558239936828613,
                    "z": -0.13539491593837738
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.679535388946533,
                "transform": {
                    "location": {
                        "x": 1237.310791015625,
                        "y": 4095.916748046875,
                        "z": 364.5502014160156
                    },
                    "rotation": {
                        "roll": 0.00028305879095569253,
                        "pitch": 0.9573739171028137,
                        "yaw": -170.7660369873047
                    }
                },
                "velocity": {
                    "x": -7.579204559326172,
                    "y": -1.2322362661361694,
                    "z": 0.11188195645809174
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057449340820312,
                "transform": {
                    "location": {
                        "x": 1233.283447265625,
                        "y": 4098.50390625,
                        "z": 364.59820556640625
                    },
                    "rotation": {
                        "roll": 0.0009081849129870534,
                        "pitch": -0.8356531262397766,
                        "yaw": 9.243694305419922
                    }
                },
                "velocity": {
                    "x": 7.9524359703063965,
                    "y": 1.2915290594100952,
                    "z": -0.11490523815155029
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.496448516845703,
                "transform": {
                    "location": {
                        "x": 1218.358154296875,
                        "y": 4092.835205078125,
                        "z": 364.8213195800781
                    },
                    "rotation": {
                        "roll": 0.0006511007086373866,
                        "pitch": 0.31672951579093933,
                        "yaw": -170.76617431640625
                    }
                },
                "velocity": {
                    "x": -7.398565292358398,
                    "y": -1.2026903629302979,
                    "z": 0.10726369917392731
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.138226270675659,
                "transform": {
                    "location": {
                        "x": 1171.85986328125,
                        "y": 4085.31982421875,
                        "z": 365.53228759765625
                    },
                    "rotation": {
                        "roll": 0.004993729759007692,
                        "pitch": 1.0351834297180176,
                        "yaw": -170.37770080566406
                    }
                },
                "velocity": {
                    "x": -2.107985734939575,
                    "y": -0.3568026125431061,
                    "z": 0.03316431865096092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.923756122589111,
                "transform": {
                    "location": {
                        "x": 1154.3775634765625,
                        "y": 4082.456787109375,
                        "z": 365.8177185058594
                    },
                    "rotation": {
                        "roll": 0.008747453801333904,
                        "pitch": 0.7988725304603577,
                        "yaw": -170.47845458984375
                    }
                },
                "velocity": {
                    "x": -6.827214241027832,
                    "y": -1.1464966535568237,
                    "z": 0.1144060268998146
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.3477783203125,
                        "y": 4086.556884765625,
                        "z": 366.2447204589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.2753383219242096,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0023405475076287985,
        "expert_target_speed": 7.781788089434609,
        "target_point": [
            43.63329962962817,
            0.0712163177608014
        ],
        "target_point_next": [
            80.63330377545284,
            0.13437937148221302
        ]
    },
    "150": {
        "acceleration": [
            3.261594772338867,
            0.5370497703552246,
            -0.03251954913139343
        ],
        "angular_velocity": [
            0.013502842746675014,
            -0.20825795829296112,
            -0.471253901720047
        ],
        "forward_vector": [
            -0.9873386025428772,
            -0.1582847237586975,
            0.01040892768651247
        ],
        "right_vector": [
            0.15829282999038696,
            -0.9873921871185303,
            -4.607357186614536e-05
        ],
        "location": [
            1197.67822265625,
            4089.5751953125,
            365.12713623046875
        ],
        "rotation": [
            0.00263996422290802,
            0.5963984131813049,
            -170.89215087890625
        ],
        "velocity": [
            -7.139792442321777,
            -1.1432037353515625,
            0.1095302551984787
        ],
        "speed": 7.230736539243906,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.87398910522461,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1171.1656494140625,
                4085.202392578125,
                365.54345703125
            ],
            "velocity": [
                -3.4748682975769043,
                -0.5876560211181641,
                0.054890505969524384
            ],
            "speed_kmh": 12.688691295397614,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.23666763305664,
                "transform": {
                    "location": {
                        "x": 1153.979736328125,
                        "y": 4085.59375,
                        "z": 365.8143005371094
                    },
                    "rotation": {
                        "roll": 0.0029333815909922123,
                        "pitch": -0.941247820854187,
                        "yaw": 9.440332412719727
                    }
                },
                "velocity": {
                    "x": 8.124244689941406,
                    "y": 1.3495500087738037,
                    "z": -0.13441510498523712
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.876613140106201,
                "transform": {
                    "location": {
                        "x": 1235.5772705078125,
                        "y": 4095.635009765625,
                        "z": 364.5759582519531
                    },
                    "rotation": {
                        "roll": -0.0008544911979697645,
                        "pitch": 0.9220276474952698,
                        "yaw": -170.81277465820312
                    }
                },
                "velocity": {
                    "x": -6.786647796630859,
                    "y": -1.104219675064087,
                    "z": 0.09960788488388062
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057319641113281,
                "transform": {
                    "location": {
                        "x": 1235.271484375,
                        "y": 4098.826171875,
                        "z": 364.5689697265625
                    },
                    "rotation": {
                        "roll": 9.19772355700843e-05,
                        "pitch": -0.8366981148719788,
                        "yaw": 9.215059280395508
                    }
                },
                "velocity": {
                    "x": 7.952151298522949,
                    "y": 1.2923966646194458,
                    "z": -0.1157383918762207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.075358390808105,
                "transform": {
                    "location": {
                        "x": 1216.45361328125,
                        "y": 4092.525634765625,
                        "z": 364.847412109375
                    },
                    "rotation": {
                        "roll": 7.860780169721693e-05,
                        "pitch": 0.779044508934021,
                        "yaw": -170.76681518554688
                    }
                },
                "velocity": {
                    "x": -7.969910144805908,
                    "y": -1.2955442667007446,
                    "z": 0.11627912521362305
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5246365070343018,
                "transform": {
                    "location": {
                        "x": 1171.1656494140625,
                        "y": 4085.202392578125,
                        "z": 365.54345703125
                    },
                    "rotation": {
                        "roll": 0.006792385131120682,
                        "pitch": 1.1050084829330444,
                        "yaw": -170.358642578125
                    }
                },
                "velocity": {
                    "x": -3.4748682975769043,
                    "y": -0.5876560211181641,
                    "z": 0.054890505969524384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.392690658569336,
                "transform": {
                    "location": {
                        "x": 1152.8975830078125,
                        "y": 4082.21044921875,
                        "z": 365.8423767089844
                    },
                    "rotation": {
                        "roll": 0.011039690114557743,
                        "pitch": 0.6815913915634155,
                        "yaw": -170.55575561523438
                    }
                },
                "velocity": {
                    "x": -5.319576740264893,
                    "y": -0.8805267214775085,
                    "z": 0.0887986347079277
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.3892822265625,
                        "y": 4087.0546875,
                        "z": 366.2427673339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.005730736069381237,
        "expert_target_speed": 6.972573431800401,
        "target_point": [
            41.7359301674732,
            0.09339543620376212
        ],
        "target_point_next": [
            78.73589750516105,
            0.17533060833800285
        ]
    },
    "155": {
        "acceleration": [
            9.329242706298828,
            1.5238451957702637,
            -0.12971997261047363
        ],
        "angular_velocity": [
            0.29067808389663696,
            -1.545586347579956,
            0.7188918590545654
        ],
        "forward_vector": [
            -0.9873536825180054,
            -0.1582040786743164,
            0.010205806232988834
        ],
        "right_vector": [
            0.1582116037607193,
            -0.9874052405357361,
            -7.082445517880842e-05
        ],
        "location": [
            1195.9801025390625,
            4089.3037109375,
            365.153076171875
        ],
        "rotation": [
            0.004058153834193945,
            0.5847597718238831,
            -170.8968505859375
        ],
        "velocity": [
            -6.287590026855469,
            -1.0028175115585327,
            0.09656024724245071
        ],
        "speed": 6.367058293066021,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.225624084472656,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1170.1092529296875,
                4085.02392578125,
                365.5604248046875
            ],
            "velocity": [
                -4.880400657653809,
                -0.8242649435997009,
                0.07712915539741516
            ],
            "speed_kmh": 17.820426243297707,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.277454376220703,
                "transform": {
                    "location": {
                        "x": 1156.0164794921875,
                        "y": 4085.929931640625,
                        "z": 365.7805480957031
                    },
                    "rotation": {
                        "roll": 0.003952906467020512,
                        "pitch": -0.9308795928955078,
                        "yaw": 9.364447593688965
                    }
                },
                "velocity": {
                    "x": 8.166435241699219,
                    "y": 1.3444339036941528,
                    "z": -0.13446711003780365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.426868915557861,
                "transform": {
                    "location": {
                        "x": 1233.8250732421875,
                        "y": 4095.350341796875,
                        "z": 364.6026916503906
                    },
                    "rotation": {
                        "roll": -0.001770029659382999,
                        "pitch": 0.7948495745658875,
                        "yaw": -170.82290649414062
                    }
                },
                "velocity": {
                    "x": -7.330516338348389,
                    "y": -1.1875979900360107,
                    "z": 0.10733067989349365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057597160339355,
                "transform": {
                    "location": {
                        "x": 1237.259765625,
                        "y": 4099.14990234375,
                        "z": 364.5396728515625
                    },
                    "rotation": {
                        "roll": -0.0014343272196128964,
                        "pitch": -0.8404479026794434,
                        "yaw": 9.254422187805176
                    }
                },
                "velocity": {
                    "x": 7.95229959487915,
                    "y": 1.293084740638733,
                    "z": -0.11722549051046371
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.022612571716309,
                "transform": {
                    "location": {
                        "x": 1214.36962890625,
                        "y": 4092.1865234375,
                        "z": 364.87689208984375
                    },
                    "rotation": {
                        "roll": -0.0019531268626451492,
                        "pitch": 1.0686991214752197,
                        "yaw": -170.76219177246094
                    }
                },
                "velocity": {
                    "x": -8.904699325561523,
                    "y": -1.44809889793396,
                    "z": 0.1298913210630417
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.950118541717529,
                "transform": {
                    "location": {
                        "x": 1170.1092529296875,
                        "y": 4085.02392578125,
                        "z": 365.5604248046875
                    },
                    "rotation": {
                        "roll": 0.006455492228269577,
                        "pitch": 1.130860686302185,
                        "yaw": -170.3887176513672
                    }
                },
                "velocity": {
                    "x": -4.880400657653809,
                    "y": -0.8242649435997009,
                    "z": 0.07712915539741516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.338038921356201,
                "transform": {
                    "location": {
                        "x": 1151.59814453125,
                        "y": 4081.99560546875,
                        "z": 365.8641662597656
                    },
                    "rotation": {
                        "roll": 0.004390922840684652,
                        "pitch": 0.8754457831382751,
                        "yaw": -170.62277221679688
                    }
                },
                "velocity": {
                    "x": -5.266116619110107,
                    "y": -0.8688526153564453,
                    "z": 0.0881495475769043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.4307861328125,
                        "y": 4087.552734375,
                        "z": 366.2408142089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.009891454130411148,
        "expert_target_speed": 5.807653250086321,
        "target_point": [
            40.01623770411495,
            0.09741667569792334
        ],
        "target_point_next": [
            77.01619819736602,
            0.1823864365491623
        ]
    },
    "160": {
        "acceleration": [
            26.354494094848633,
            4.238525390625,
            -0.3790700435638428
        ],
        "angular_velocity": [
            1.0095994472503662,
            -6.489866733551025,
            0.08510161936283112
        ],
        "forward_vector": [
            -0.9871126413345337,
            -0.15999160706996918,
            -0.0033603841438889503
        ],
        "right_vector": [
            0.15999218821525574,
            -0.9871183037757874,
            9.693849278846756e-05
        ],
        "location": [
            1194.7835693359375,
            4089.1123046875,
            365.17413330078125
        ],
        "rotation": [
            -0.005554197821766138,
            -0.19253619015216827,
            -170.7935333251953
        ],
        "velocity": [
            -2.4085354804992676,
            -0.38665950298309326,
            0.0343102365732193
        ],
        "speed": 2.4393746600452686,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.330352783203125,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1168.81103515625,
                4084.805419921875,
                365.58123779296875
            ],
            "velocity": [
                -5.294557571411133,
                -0.8854535222053528,
                0.08401506394147873
            ],
            "speed_kmh": 19.327483164378314,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.281744956970215,
                "transform": {
                    "location": {
                        "x": 1158.0587158203125,
                        "y": 4086.26611328125,
                        "z": 365.7469482421875
                    },
                    "rotation": {
                        "roll": 0.0004432738060131669,
                        "pitch": -0.9315489530563354,
                        "yaw": 9.325876235961914
                    }
                },
                "velocity": {
                    "x": 8.17132568359375,
                    "y": 1.3411539793014526,
                    "z": -0.13436369597911835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.702847480773926,
                "transform": {
                    "location": {
                        "x": 1231.9000244140625,
                        "y": 4095.0380859375,
                        "z": 364.6315612792969
                    },
                    "rotation": {
                        "roll": -0.0008239749586209655,
                        "pitch": 0.7107699513435364,
                        "yaw": -170.7498779296875
                    }
                },
                "velocity": {
                    "x": -8.589427947998047,
                    "y": -1.3948023319244385,
                    "z": 0.1257367879152298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057642936706543,
                "transform": {
                    "location": {
                        "x": 1239.248046875,
                        "y": 4099.47265625,
                        "z": 364.51025390625
                    },
                    "rotation": {
                        "roll": -0.0003662020608317107,
                        "pitch": -0.8460076451301575,
                        "yaw": 9.217838287353516
                    }
                },
                "velocity": {
                    "x": 7.95247745513916,
                    "y": 1.2921017408370972,
                    "z": -0.11908093839883804
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.801229476928711,
                "transform": {
                    "location": {
                        "x": 1211.979248046875,
                        "y": 4091.798095703125,
                        "z": 364.9114074707031
                    },
                    "rotation": {
                        "roll": 0.0004164495912846178,
                        "pitch": 1.2231638431549072,
                        "yaw": -170.77163696289062
                    }
                },
                "velocity": {
                    "x": -9.673364639282227,
                    "y": -1.5716139078140259,
                    "z": 0.14195741713047028
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.36874532699585,
                "transform": {
                    "location": {
                        "x": 1168.81103515625,
                        "y": 4084.805419921875,
                        "z": 365.58123779296875
                    },
                    "rotation": {
                        "roll": 0.008696986362338066,
                        "pitch": 1.009358525276184,
                        "yaw": -170.4070281982422
                    }
                },
                "velocity": {
                    "x": -5.294557571411133,
                    "y": -0.8854535222053528,
                    "z": 0.08401506394147873
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.259835720062256,
                "transform": {
                    "location": {
                        "x": 1150.191650390625,
                        "y": 4081.763427734375,
                        "z": 365.8877258300781
                    },
                    "rotation": {
                        "roll": 0.003512117313221097,
                        "pitch": 1.1164352893829346,
                        "yaw": -170.5373077392578
                    }
                },
                "velocity": {
                    "x": -6.175001621246338,
                    "y": -1.0219210386276245,
                    "z": 0.10283041000366211
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.4722900390625,
                        "y": 4088.05078125,
                        "z": 366.2388610839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.09909141063690186,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.008878686465322971,
        "expert_target_speed": 2.4382163229766323,
        "target_point": [
            38.804605012041684,
            0.0277472234681424
        ],
        "target_point_next": [
            75.80465857306905,
            0.045991222666611264
        ]
    },
    "165": {
        "acceleration": [
            0.03396328538656235,
            0.009091395884752274,
            0.010817726142704487
        ],
        "angular_velocity": [
            -0.6517139673233032,
            4.074244499206543,
            -0.004539581947028637
        ],
        "forward_vector": [
            -0.9870753288269043,
            -0.16004522144794464,
            -0.008238699287176132
        ],
        "right_vector": [
            0.160049706697464,
            -0.9871090054512024,
            0.00011557736434042454
        ],
        "location": [
            1194.6854248046875,
            4089.096435546875,
            365.176513671875
        ],
        "rotation": [
            -0.006622320041060448,
            -0.4720480144023895,
            -170.7901611328125
        ],
        "velocity": [
            0.012202322483062744,
            0.0020205264445394278,
            0.000514016195666045
        ],
        "speed": 0.012368476102323264,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.70077133178711,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1167.3614501953125,
                4084.563232421875,
                365.60455322265625
            ],
            "velocity": [
                -6.87699031829834,
                -1.1454874277114868,
                0.11003650724887848
            ],
            "speed_kmh": 25.1013844104369,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1119.8846435546875,
                        "y": 4079.96533203125,
                        "z": 366.7901916503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0031088590621948,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.322616577148438,
                "transform": {
                    "location": {
                        "x": 1160.10693359375,
                        "y": 4086.601806640625,
                        "z": 365.71343994140625
                    },
                    "rotation": {
                        "roll": 0.0038414013106375933,
                        "pitch": -0.9251968860626221,
                        "yaw": 9.296648979187012
                    }
                },
                "velocity": {
                    "x": 8.21243667602539,
                    "y": 1.3429789543151855,
                    "z": -0.13509821891784668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.034664154052734,
                "transform": {
                    "location": {
                        "x": 1229.5576171875,
                        "y": 4094.65673828125,
                        "z": 364.6660461425781
                    },
                    "rotation": {
                        "roll": -0.0004882824723608792,
                        "pitch": 0.6764892339706421,
                        "yaw": -170.76072692871094
                    }
                },
                "velocity": {
                    "x": -9.903688430786133,
                    "y": -1.6095829010009766,
                    "z": 0.143816277384758
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0580472946167,
                "transform": {
                    "location": {
                        "x": 1241.236083984375,
                        "y": 4099.796875,
                        "z": 364.48065185546875
                    },
                    "rotation": {
                        "roll": -0.0004272468213457614,
                        "pitch": -0.8455159068107605,
                        "yaw": 9.25908374786377
                    }
                },
                "velocity": {
                    "x": 7.9526495933532715,
                    "y": 1.2936378717422485,
                    "z": -0.11824267357587814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.472182273864746,
                "transform": {
                    "location": {
                        "x": 1209.70068359375,
                        "y": 4091.427734375,
                        "z": 364.9468688964844
                    },
                    "rotation": {
                        "roll": -0.0007629423053003848,
                        "pitch": 0.6702191233634949,
                        "yaw": -170.77076721191406
                    }
                },
                "velocity": {
                    "x": -8.36161994934082,
                    "y": -1.3587243556976318,
                    "z": 0.12267976254224777
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.972606658935547,
                "transform": {
                    "location": {
                        "x": 1167.3614501953125,
                        "y": 4084.563232421875,
                        "z": 365.60455322265625
                    },
                    "rotation": {
                        "roll": 0.007662490475922823,
                        "pitch": 1.1511259078979492,
                        "yaw": -170.44981384277344
                    }
                },
                "velocity": {
                    "x": -6.87699031829834,
                    "y": -1.1454874277114868,
                    "z": 0.11003650724887848
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3998007774353027,
                "transform": {
                    "location": {
                        "x": 1148.965576171875,
                        "y": 4081.560546875,
                        "z": 365.9079284667969
                    },
                    "rotation": {
                        "roll": 6.44681858830154e-05,
                        "pitch": 0.4048594534397125,
                        "yaw": -170.79005432128906
                    }
                },
                "velocity": {
                    "x": -2.366527557373047,
                    "y": -0.39643096923828125,
                    "z": 0.03786667808890343
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.5137939453125,
                        "y": 4088.548583984375,
                        "z": 366.2369079589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.009250848554074764,
        "expert_target_speed": 0.1794961926885697,
        "target_point": [
            38.70518737563547,
            0.02551480874918788
        ],
        "target_point_next": [
            75.70524194305217,
            0.041588718869133956
        ]
    },
    "170": {
        "acceleration": [
            -4.310780048370361,
            -0.6898969411849976,
            0.057196617126464844
        ],
        "angular_velocity": [
            -0.518706202507019,
            3.071197032928467,
            -0.3634665310382843
        ],
        "forward_vector": [
            -0.9871342778205872,
            -0.15965360403060913,
            0.008751756511628628
        ],
        "right_vector": [
            0.15966059267520905,
            -0.98717200756073,
            9.959848830476403e-05
        ],
        "location": [
            1194.617919921875,
            4089.08544921875,
            365.1741027832031
        ],
        "rotation": [
            -0.005706791765987873,
            0.5014451146125793,
            -170.81285095214844
        ],
        "velocity": [
            -0.5151352286338806,
            -0.08318152278661728,
            0.008315963670611382
        ],
        "speed": 0.5218078856368319,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.543201446533203,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1165.4766845703125,
                4084.25048828125,
                365.63482666015625
            ],
            "velocity": [
                -8.010004043579102,
                -1.32670259475708,
                0.12805907428264618
            ],
            "speed_kmh": 29.23251066343001,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1121.9310302734375,
                        "y": 4080.298095703125,
                        "z": 366.5837707519531
                    },
                    "rotation": {
                        "roll": 6.671136087987861e-09,
                        "pitch": -1.00653076171875,
                        "yaw": 9.234707832336426
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.324651718139648,
                "transform": {
                    "location": {
                        "x": 1162.16064453125,
                        "y": 4086.9375,
                        "z": 365.6799621582031
                    },
                    "rotation": {
                        "roll": 0.00018184380314778537,
                        "pitch": -0.9184554815292358,
                        "yaw": 9.27466106414795
                    }
                },
                "velocity": {
                    "x": 8.21473503112793,
                    "y": 1.341596007347107,
                    "z": -0.13440747559070587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.582540512084961,
                "transform": {
                    "location": {
                        "x": 1227.0894775390625,
                        "y": 4094.255126953125,
                        "z": 364.70062255859375
                    },
                    "rotation": {
                        "roll": 0.0003446272748988122,
                        "pitch": 0.8309744000434875,
                        "yaw": -170.73553466796875
                    }
                },
                "velocity": {
                    "x": -9.456988334655762,
                    "y": -1.5399528741836548,
                    "z": 0.13786067068576813
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059930801391602,
                "transform": {
                    "location": {
                        "x": 1243.224365234375,
                        "y": 4100.12060546875,
                        "z": 364.4510192871094
                    },
                    "rotation": {
                        "roll": 0.00022070479462854564,
                        "pitch": -0.8507956266403198,
                        "yaw": 9.223466873168945
                    }
                },
                "velocity": {
                    "x": 7.954628944396973,
                    "y": 1.293136715888977,
                    "z": -0.11899043619632721
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.622891902923584,
                "transform": {
                    "location": {
                        "x": 1207.86181640625,
                        "y": 4091.12890625,
                        "z": 364.9757080078125
                    },
                    "rotation": {
                        "roll": -0.0005493178032338619,
                        "pitch": 0.2323288768529892,
                        "yaw": -170.76956176757812
                    }
                },
                "velocity": {
                    "x": -6.536417007446289,
                    "y": -1.0622793436050415,
                    "z": 0.09754352271556854
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.120141983032227,
                "transform": {
                    "location": {
                        "x": 1165.4766845703125,
                        "y": 4084.25048828125,
                        "z": 365.63482666015625
                    },
                    "rotation": {
                        "roll": 0.008075552061200142,
                        "pitch": 1.1266874074935913,
                        "yaw": -170.5693359375
                    }
                },
                "velocity": {
                    "x": -8.010004043579102,
                    "y": -1.32670259475708,
                    "z": 0.12805907428264618
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00956361647695303,
                "transform": {
                    "location": {
                        "x": 1148.869140625,
                        "y": 4081.544189453125,
                        "z": 365.90948486328125
                    },
                    "rotation": {
                        "roll": 0.00528020178899169,
                        "pitch": 0.41013234853744507,
                        "yaw": -170.80763244628906
                    }
                },
                "velocity": {
                    "x": 0.009238907136023045,
                    "y": 0.0017897947691380978,
                    "z": 0.0017035232158377767
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.5552978515625,
                        "y": 4089.046875,
                        "z": 366.2349548339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01190507598221302,
        "expert_target_speed": 1.6908087349931116,
        "target_point": [
            38.63678123452225,
            0.040765766666871706
        ],
        "target_point_next": [
            75.63682654248774,
            0.07148336587046344
        ]
    },
    "175": {
        "acceleration": [
            -3.3716177940368652,
            -0.5561915040016174,
            0.06222095340490341
        ],
        "angular_velocity": [
            -0.19758689403533936,
            1.2154052257537842,
            -0.614949643611908
        ],
        "forward_vector": [
            -0.9869721531867981,
            -0.16000336408615112,
            0.016877803951501846
        ],
        "right_vector": [
            0.1600264608860016,
            -0.9871127009391785,
            1.810677167668473e-05
        ],
        "location": [
            1194.39990234375,
            4089.05029296875,
            365.17578125
        ],
        "rotation": [
            -0.0010375893907621503,
            0.9670727849006653,
            -170.7915802001953
        ],
        "velocity": [
            -1.2055118083953857,
            -0.19501885771751404,
            0.01877930574119091
        ],
        "speed": 1.2211842920076221,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.297452926635742,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1163.5281982421875,
                4083.928955078125,
                365.6660461425781
            ],
            "velocity": [
                -7.358345985412598,
                -1.2102426290512085,
                0.11979944258928299
            ],
            "speed_kmh": 26.84941079803747,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1123.9771728515625,
                        "y": 4080.630615234375,
                        "z": 366.3775634765625
                    },
                    "rotation": {
                        "roll": 6.671136087987861e-09,
                        "pitch": -1.00653076171875,
                        "yaw": 9.234707832336426
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.351042747497559,
                "transform": {
                    "location": {
                        "x": 1164.2177734375,
                        "y": 4087.27294921875,
                        "z": 365.6466064453125
                    },
                    "rotation": {
                        "roll": 0.000792757433373481,
                        "pitch": -0.9192478060722351,
                        "yaw": 9.258088111877441
                    }
                },
                "velocity": {
                    "x": 8.241353988647461,
                    "y": 1.3423559665679932,
                    "z": -0.13448035717010498
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.315067291259766,
                "transform": {
                    "location": {
                        "x": 1224.884765625,
                        "y": 4093.896728515625,
                        "z": 364.7319030761719
                    },
                    "rotation": {
                        "roll": -0.0003662091912701726,
                        "pitch": 0.9182369112968445,
                        "yaw": -170.72911071777344
                    }
                },
                "velocity": {
                    "x": -8.206938743591309,
                    "y": -1.331266164779663,
                    "z": 0.11930327862501144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057061195373535,
                "transform": {
                    "location": {
                        "x": 1245.2125244140625,
                        "y": 4100.44384765625,
                        "z": 364.4212951660156
                    },
                    "rotation": {
                        "roll": -0.000610355578828603,
                        "pitch": -0.8524417281150818,
                        "yaw": 9.254578590393066
                    }
                },
                "velocity": {
                    "x": 7.951782703399658,
                    "y": 1.2927610874176025,
                    "z": -0.11896710842847824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.548700213432312,
                "transform": {
                    "location": {
                        "x": 1206.9637451171875,
                        "y": 4090.983154296875,
                        "z": 364.99334716796875
                    },
                    "rotation": {
                        "roll": 0.0006159472395665944,
                        "pitch": -0.977871298789978,
                        "yaw": -170.76852416992188
                    }
                },
                "velocity": {
                    "x": -0.5415135622024536,
                    "y": -0.08826259523630142,
                    "z": 0.0066864681430161
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.458169460296631,
                "transform": {
                    "location": {
                        "x": 1163.5281982421875,
                        "y": 4083.928955078125,
                        "z": 365.6660461425781
                    },
                    "rotation": {
                        "roll": 0.006274278275668621,
                        "pitch": 0.8976848721504211,
                        "yaw": -170.63861083984375
                    }
                },
                "velocity": {
                    "x": -7.358345985412598,
                    "y": -1.2102426290512085,
                    "z": 0.11979944258928299
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003020232543349266,
                "transform": {
                    "location": {
                        "x": 1148.8665771484375,
                        "y": 4081.543701171875,
                        "z": 365.9097595214844
                    },
                    "rotation": {
                        "roll": 0.0004784842021763325,
                        "pitch": 0.8349701166152954,
                        "yaw": -170.8075408935547
                    }
                },
                "velocity": {
                    "x": 0.0026217219419777393,
                    "y": 0.0005633286200463772,
                    "z": 0.001389618613757193
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.5968017578125,
                        "y": 4089.544921875,
                        "z": 366.2330017089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.009787281975150108,
        "expert_target_speed": 2.391598019371795,
        "target_point": [
            38.41595984308899,
            0.02661762101953169
        ],
        "target_point_next": [
            75.41601400057039,
            0.04360896717985341
        ]
    },
    "180": {
        "acceleration": [
            -3.935275077819824,
            -0.6471985578536987,
            0.05065556615591049
        ],
        "angular_velocity": [
            -0.09660746902227402,
            0.5968133807182312,
            -1.06033194065094
        ],
        "forward_vector": [
            -0.9868522882461548,
            -0.16033530235290527,
            0.020375151187181473
        ],
        "right_vector": [
            0.16036899387836456,
            -0.9870571494102478,
            1.9703524230862968e-05
        ],
        "location": [
            1193.9891357421875,
            4088.983642578125,
            365.1813659667969
        ],
        "rotation": [
            -0.001129163196310401,
            1.1674909591674805,
            -170.77171325683594
        ],
        "velocity": [
            -2.0614049434661865,
            -0.3345503807067871,
            0.03077216073870659
        ],
        "speed": 2.0883759954035788,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.53908920288086,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1161.8924560546875,
                4083.66064453125,
                365.69232177734375
            ],
            "velocity": [
                -5.4490838050842285,
                -0.8915656805038452,
                0.0883314311504364
            ],
            "speed_kmh": 19.88008730627195,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.288022994995117,
                "transform": {
                    "location": {
                        "x": 1125.757080078125,
                        "y": 4080.9248046875,
                        "z": 366.29937744140625
                    },
                    "rotation": {
                        "roll": -0.019866950809955597,
                        "pitch": -1.1980218887329102,
                        "yaw": 9.413071632385254
                    }
                },
                "velocity": {
                    "x": 6.19670295715332,
                    "y": 1.0670181512832642,
                    "z": 0.03966997191309929
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.332962036132812,
                "transform": {
                    "location": {
                        "x": 1166.27587890625,
                        "y": 4087.60888671875,
                        "z": 365.6134033203125
                    },
                    "rotation": {
                        "roll": 0.0005804130923934281,
                        "pitch": -0.9140021800994873,
                        "yaw": 9.254847526550293
                    }
                },
                "velocity": {
                    "x": 8.223433494567871,
                    "y": 1.3400540351867676,
                    "z": -0.13288670778274536
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.542831897735596,
                "transform": {
                    "location": {
                        "x": 1223.265625,
                        "y": 4093.6240234375,
                        "z": 364.7537536621094
                    },
                    "rotation": {
                        "roll": -0.015319823287427425,
                        "pitch": 1.1143248081207275,
                        "yaw": -171.90110778808594
                    }
                },
                "velocity": {
                    "x": -4.486414909362793,
                    "y": -0.7111825346946716,
                    "z": 0.06017906218767166
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058880805969238,
                "transform": {
                    "location": {
                        "x": 1247.2005615234375,
                        "y": 4100.76708984375,
                        "z": 364.391357421875
                    },
                    "rotation": {
                        "roll": 0.0005046965088695288,
                        "pitch": -0.8556177616119385,
                        "yaw": 9.217040061950684
                    }
                },
                "velocity": {
                    "x": 7.953747272491455,
                    "y": 1.2919617891311646,
                    "z": -0.11957645416259766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2412211894989014,
                "transform": {
                    "location": {
                        "x": 1206.791015625,
                        "y": 4090.954833984375,
                        "z": 364.9920654296875
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": 0.040086377412080765,
                        "yaw": -170.77230834960938
                    }
                },
                "velocity": {
                    "x": -1.224979043006897,
                    "y": -0.19917313754558563,
                    "z": 0.01965593360364437
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.522246360778809,
                "transform": {
                    "location": {
                        "x": 1161.8924560546875,
                        "y": 4083.66064453125,
                        "z": 365.69232177734375
                    },
                    "rotation": {
                        "roll": 0.003895740956068039,
                        "pitch": 0.6776571869850159,
                        "yaw": -170.67547607421875
                    }
                },
                "velocity": {
                    "x": -5.4490838050842285,
                    "y": -0.8915656805038452,
                    "z": 0.0883314311504364
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04808836430311203,
                "transform": {
                    "location": {
                        "x": 1148.8626708984375,
                        "y": 4081.542724609375,
                        "z": 365.9098815917969
                    },
                    "rotation": {
                        "roll": -0.00048827085993252695,
                        "pitch": 0.940359890460968,
                        "yaw": -170.80621337890625
                    }
                },
                "velocity": {
                    "x": -0.04743477702140808,
                    "y": -0.0077542406506836414,
                    "z": 0.0015180491609498858
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.6383056640625,
                        "y": 4090.04296875,
                        "z": 366.2310485839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.009077591821551323,
        "expert_target_speed": 3.2520320174178234,
        "target_point": [
            37.999828007816575,
            0.013368353661067367
        ],
        "target_point_next": [
            74.99988583429563,
            0.017515594562135917
        ]
    },
    "185": {
        "acceleration": [
            -7.084951400756836,
            -1.1455345153808594,
            0.10827958583831787
        ],
        "angular_velocity": [
            -0.18194784224033356,
            1.1265923976898193,
            -0.027746010571718216
        ],
        "forward_vector": [
            -0.9867846369743347,
            -0.16019318997859955,
            0.02437552623450756
        ],
        "right_vector": [
            0.16024067997932434,
            -0.9870779514312744,
            -5.1745446398854256e-06
        ],
        "location": [
            1193.2984619140625,
            4088.871826171875,
            365.1910705566406
        ],
        "rotation": [
            0.00029656768310815096,
            1.3967530727386475,
            -170.7791290283203
        ],
        "velocity": [
            -3.538374662399292,
            -0.5730865597724915,
            0.0536164753139019
        ],
        "speed": 3.5844837084998966,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.50236511230469,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1161.2388916015625,
                4083.549560546875,
                365.7020263671875
            ],
            "velocity": [
                -0.0007689601043239236,
                0.00041087321005761623,
                0.0014347739052027464
            ],
            "speed_kmh": 0.006044026475953759,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.105871677398682,
                "transform": {
                    "location": {
                        "x": 1127.28466796875,
                        "y": 4081.186767578125,
                        "z": 366.2996520996094
                    },
                    "rotation": {
                        "roll": -0.014526342041790485,
                        "pitch": -1.0528873205184937,
                        "yaw": 9.692975997924805
                    }
                },
                "velocity": {
                    "x": 6.015665054321289,
                    "y": 1.0445513725280762,
                    "z": -0.04855535924434662
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.353475570678711,
                "transform": {
                    "location": {
                        "x": 1168.33447265625,
                        "y": 4087.9443359375,
                        "z": 365.5803527832031
                    },
                    "rotation": {
                        "roll": 0.001700282678939402,
                        "pitch": -0.906243085861206,
                        "yaw": 9.244696617126465
                    }
                },
                "velocity": {
                    "x": 8.244139671325684,
                    "y": 1.34073007106781,
                    "z": -0.131033793091774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1885340213775635,
                "transform": {
                    "location": {
                        "x": 1222.6378173828125,
                        "y": 4093.52392578125,
                        "z": 364.76300048828125
                    },
                    "rotation": {
                        "roll": -0.01864623837172985,
                        "pitch": 1.0799962282180786,
                        "yaw": -172.66929626464844
                    }
                },
                "velocity": {
                    "x": -2.1597707271575928,
                    "y": -0.3522487282752991,
                    "z": 0.03149731457233429
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058297157287598,
                "transform": {
                    "location": {
                        "x": 1249.1888427734375,
                        "y": 4101.08984375,
                        "z": 364.36138916015625
                    },
                    "rotation": {
                        "roll": -0.0001220700578414835,
                        "pitch": -0.8612048625946045,
                        "yaw": 9.252355575561523
                    }
                },
                "velocity": {
                    "x": 7.952860355377197,
                    "y": 1.293764352798462,
                    "z": -0.11973899602890015
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.178635597229004,
                "transform": {
                    "location": {
                        "x": 1206.3590087890625,
                        "y": 4090.884521484375,
                        "z": 364.9955749511719
                    },
                    "rotation": {
                        "roll": 0.0019199865637347102,
                        "pitch": 0.873799741268158,
                        "yaw": -170.73892211914062
                    }
                },
                "velocity": {
                    "x": -2.1501011848449707,
                    "y": -0.35000336170196533,
                    "z": 0.03186839818954468
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0016788962529972196,
                "transform": {
                    "location": {
                        "x": 1161.2388916015625,
                        "y": 4083.549560546875,
                        "z": 365.7020263671875
                    },
                    "rotation": {
                        "roll": 0.014953349716961384,
                        "pitch": 0.1750645637512207,
                        "yaw": -169.69241333007812
                    }
                },
                "velocity": {
                    "x": -0.0007689601043239236,
                    "y": 0.00041087321005761623,
                    "z": 0.0014347739052027464
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7321953773498535,
                "transform": {
                    "location": {
                        "x": 1148.7833251953125,
                        "y": 4081.529541015625,
                        "z": 365.91131591796875
                    },
                    "rotation": {
                        "roll": -0.0007019033073447645,
                        "pitch": 1.065700650215149,
                        "yaw": -170.7969512939453
                    }
                },
                "velocity": {
                    "x": -0.7223691940307617,
                    "y": -0.11898383498191833,
                    "z": 0.01164698600769043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [
            {
                "id": 4168,
                "type": "walker.pedestrian.0033",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.6798095703125,
                        "y": 4090.541259765625,
                        "z": 366.2290954589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0106426440179348,
        "expert_target_speed": 4.698544880175858,
        "target_point": [
            37.30015949518809,
            0.018599439241147486
        ],
        "target_point_next": [
            74.30021647256346,
            0.027545576754112844
        ]
    },
    "190": {
        "acceleration": [
            -6.343498229980469,
            -1.0226571559906006,
            0.17517998814582825
        ],
        "angular_velocity": [
            -0.09599775820970535,
            0.3301572799682617,
            -0.06456513702869415
        ],
        "forward_vector": [
            -0.9867553114891052,
            -0.15992669761180878,
            0.027155637741088867
        ],
        "right_vector": [
            0.1599854677915573,
            -0.9871193766593933,
            -8.375848665309604e-06
        ],
        "location": [
            1192.2030029296875,
            4088.694580078125,
            365.20733642578125
        ],
        "rotation": [
            0.0004800778115168214,
            1.5560946464538574,
            -170.79393005371094
        ],
        "velocity": [
            -5.136275291442871,
            -0.8307477235794067,
            0.08307809382677078
        ],
        "speed": 5.203024663570115,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.523386001586914,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1161.10986328125,
                4083.528076171875,
                365.7051086425781
            ],
            "velocity": [
                -1.058133602142334,
                -0.18098437786102295,
                0.017622679471969604
            ],
            "speed_kmh": 3.8651203868729818,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.072084426879883,
                "transform": {
                    "location": {
                        "x": 1128.8172607421875,
                        "y": 4081.4521484375,
                        "z": 366.2790222167969
                    },
                    "rotation": {
                        "roll": -0.013458255678415298,
                        "pitch": -1.0177254676818848,
                        "yaw": 9.820359230041504
                    }
                },
                "velocity": {
                    "x": 5.98116397857666,
                    "y": 1.042527198791504,
                    "z": -0.09498345851898193
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.333118438720703,
                "transform": {
                    "location": {
                        "x": 1170.392822265625,
                        "y": 4088.279296875,
                        "z": 365.5475769042969
                    },
                    "rotation": {
                        "roll": 0.0009004439343698323,
                        "pitch": -0.9076842665672302,
                        "yaw": 9.233757972717285
                    }
                },
                "velocity": {
                    "x": 8.224120140075684,
                    "y": 1.337037205696106,
                    "z": -0.13051922619342804
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.934382438659668,
                "transform": {
                    "location": {
                        "x": 1222.011474609375,
                        "y": 4093.42626953125,
                        "z": 364.77447509765625
                    },
                    "rotation": {
                        "roll": -0.01394653134047985,
                        "pitch": 0.786120593547821,
                        "yaw": -172.16233825683594
                    }
                },
                "velocity": {
                    "x": -2.8961033821105957,
                    "y": -0.47048503160476685,
                    "z": 0.04276451840996742
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055460929870605,
                "transform": {
                    "location": {
                        "x": 1251.1771240234375,
                        "y": 4101.41259765625,
                        "z": 364.3313293457031
                    },
                    "rotation": {
                        "roll": 0.0015226170653477311,
                        "pitch": -0.8612663149833679,
                        "yaw": 9.216060638427734
                    }
                },
                "velocity": {
                    "x": 7.950404644012451,
                    "y": 1.2912821769714355,
                    "z": -0.11877486854791641
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1196918487548828,
                "transform": {
                    "location": {
                        "x": 1205.828857421875,
                        "y": 4090.79833984375,
                        "z": 365.00390625
                    },
                    "rotation": {
                        "roll": 0.0027288703713566065,
                        "pitch": 0.7752264142036438,
                        "yaw": -170.73785400390625
                    }
                },
                "velocity": {
                    "x": -1.1053787469863892,
                    "y": -0.177566796541214,
                    "z": 0.017822742462158203
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0736445188522339,
                "transform": {
                    "location": {
                        "x": 1161.10986328125,
                        "y": 4083.528076171875,
                        "z": 365.7051086425781
                    },
                    "rotation": {
                        "roll": 0.017532553523778915,
                        "pitch": 0.8191172480583191,
                        "yaw": -169.78904724121094
                    }
                },
                "velocity": {
                    "x": -1.058133602142334,
                    "y": -0.18098437786102295,
                    "z": 0.017622679471969604
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8201415538787842,
                "transform": {
                    "location": {
                        "x": 1148.469970703125,
                        "y": 4081.478271484375,
                        "z": 365.91656494140625
                    },
                    "rotation": {
                        "roll": -0.0009765560971572995,
                        "pitch": 1.1574301719665527,
                        "yaw": -170.79930114746094
                    }
                },
                "velocity": {
                    "x": -1.7962720394134521,
                    "y": -0.2922629117965698,
                    "z": 0.030072668567299843
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.011202935129404068,
        "expert_target_speed": 6.206109033059317,
        "target_point": [
            36.190447861105916,
            0.028534064007666338
        ],
        "target_point_next": [
            73.19050129069558,
            0.04704270821156875
        ]
    },
    "195": {
        "acceleration": [
            -6.195173263549805,
            -0.9935927391052246,
            0.10096356272697449
        ],
        "angular_velocity": [
            -0.11480367928743362,
            0.47250881791114807,
            -0.07460290938615799
        ],
        "forward_vector": [
            -0.9869294166564941,
            -0.1595972776412964,
            0.02234034426510334
        ],
        "right_vector": [
            0.15963660180568695,
            -0.9871758222579956,
            -2.381100603088271e-05
        ],
        "location": [
            1190.860107421875,
            4088.477783203125,
            365.2291259765625
        ],
        "rotation": [
            0.0013646107399836183,
            1.280113935470581,
            -170.8141632080078
        ],
        "velocity": [
            -5.685096263885498,
            -0.9177156686782837,
            0.08830565959215164
        ],
        "speed": 5.7586909604685745,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.54212760925293,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1160.7359619140625,
                4083.46533203125,
                365.7115173339844
            ],
            "velocity": [
                -1.8995574712753296,
                -0.31868430972099304,
                0.03138139471411705
            ],
            "speed_kmh": 6.9348962039567095,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.01118278503418,
                "transform": {
                    "location": {
                        "x": 1130.1131591796875,
                        "y": 4081.67626953125,
                        "z": 366.2578430175781
                    },
                    "rotation": {
                        "roll": -0.002899158513173461,
                        "pitch": -1.082304835319519,
                        "yaw": 9.813324928283691
                    }
                },
                "velocity": {
                    "x": 4.940349578857422,
                    "y": 0.8353337049484253,
                    "z": -0.08434818685054779
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.353554725646973,
                "transform": {
                    "location": {
                        "x": 1172.451416015625,
                        "y": 4088.61328125,
                        "z": 365.51483154296875
                    },
                    "rotation": {
                        "roll": -0.00033568148501217365,
                        "pitch": -0.9035588502883911,
                        "yaw": 9.228201866149902
                    }
                },
                "velocity": {
                    "x": 8.244434356689453,
                    "y": 1.339449167251587,
                    "z": -0.1306294947862625
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.005044937133789,
                "transform": {
                    "location": {
                        "x": 1221.1534423828125,
                        "y": 4093.29052734375,
                        "z": 364.7875061035156
                    },
                    "rotation": {
                        "roll": -0.008087150752544403,
                        "pitch": 0.7177367210388184,
                        "yaw": -171.67535400390625
                    }
                },
                "velocity": {
                    "x": -3.952608346939087,
                    "y": -0.6433759331703186,
                    "z": 0.05779849737882614
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.834718227386475,
                "transform": {
                    "location": {
                        "x": 1253.1441650390625,
                        "y": 4101.732421875,
                        "z": 364.3014221191406
                    },
                    "rotation": {
                        "roll": -0.0008850172162055969,
                        "pitch": -0.8932794332504272,
                        "yaw": 9.250078201293945
                    }
                },
                "velocity": {
                    "x": 7.732254505157471,
                    "y": 1.2574478387832642,
                    "z": -0.11779934912919998
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7232398390769958,
                "transform": {
                    "location": {
                        "x": 1205.746337890625,
                        "y": 4090.784912109375,
                        "z": 365.0058898925781
                    },
                    "rotation": {
                        "roll": -6.103789201006293e-05,
                        "pitch": 0.5759215354919434,
                        "yaw": -170.75238037109375
                    }
                },
                "velocity": {
                    "x": -0.7137012481689453,
                    "y": -0.11654088646173477,
                    "z": 0.011163625866174698
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.926360011100769,
                "transform": {
                    "location": {
                        "x": 1160.7359619140625,
                        "y": 4083.46533203125,
                        "z": 365.7115173339844
                    },
                    "rotation": {
                        "roll": 0.018482699990272522,
                        "pitch": 1.0134838819503784,
                        "yaw": -169.94606018066406
                    }
                },
                "velocity": {
                    "x": -1.8995574712753296,
                    "y": -0.31868430972099304,
                    "z": 0.03138139471411705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.247776985168457,
                "transform": {
                    "location": {
                        "x": 1147.852783203125,
                        "y": 4081.377685546875,
                        "z": 365.9269714355469
                    },
                    "rotation": {
                        "roll": -0.0008544812444597483,
                        "pitch": 1.2419264316558838,
                        "yaw": -170.78012084960938
                    }
                },
                "velocity": {
                    "x": -3.2050719261169434,
                    "y": -0.5222228765487671,
                    "z": 0.05340731516480446
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.015452349558472633,
        "expert_target_speed": 6.6991104389734835,
        "target_point": [
            34.83015281134425,
            0.04166370130301633
        ],
        "target_point_next": [
            71.83019740654811,
            0.07322816432847468
        ]
    },
    "200": {
        "acceleration": [
            -7.039756774902344,
            -1.1238384246826172,
            0.11777922511100769
        ],
        "angular_velocity": [
            -0.13003690540790558,
            0.6285969018936157,
            0.08150943368673325
        ],
        "forward_vector": [
            -0.9868679046630859,
            -0.15924137830734253,
            0.027090689167380333
        ],
        "right_vector": [
            0.15929913520812988,
            -0.9872303605079651,
            -2.6484483896638267e-05
        ],
        "location": [
            1189.1768798828125,
            4088.2060546875,
            365.2540283203125
        ],
        "rotation": [
            0.0015180063201114535,
            1.5523720979690552,
            -170.833740234375
        ],
        "velocity": [
            -7.560646057128906,
            -1.2177717685699463,
            0.11677953600883484
        ],
        "speed": 7.6580896365545925,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.39776611328125,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1160.182861328125,
                4083.373046875,
                365.720458984375
            ],
            "velocity": [
                -2.095902681350708,
                -0.34856733679771423,
                0.035076312720775604
            ],
            "speed_kmh": 7.649925954578576,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.49171257019043,
                "transform": {
                    "location": {
                        "x": 1131.384521484375,
                        "y": 4081.891845703125,
                        "z": 366.23492431640625
                    },
                    "rotation": {
                        "roll": -0.005126940086483955,
                        "pitch": -0.9757061004638672,
                        "yaw": 9.701748847961426
                    }
                },
                "velocity": {
                    "x": 5.4145002365112305,
                    "y": 0.9127839207649231,
                    "z": -0.09443942457437515
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.332855224609375,
                "transform": {
                    "location": {
                        "x": 1174.509765625,
                        "y": 4088.94775390625,
                        "z": 365.482177734375
                    },
                    "rotation": {
                        "roll": -0.0003356945526320487,
                        "pitch": -0.9007858037948608,
                        "yaw": 9.231978416442871
                    }
                },
                "velocity": {
                    "x": 8.223916053771973,
                    "y": 1.33663010597229,
                    "z": -0.1307653933763504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.078834533691406,
                "transform": {
                    "location": {
                        "x": 1220.025390625,
                        "y": 4093.110107421875,
                        "z": 364.80401611328125
                    },
                    "rotation": {
                        "roll": -0.0036315869074314833,
                        "pitch": 0.708358883857727,
                        "yaw": -171.27134704589844
                    }
                },
                "velocity": {
                    "x": -5.012045860290527,
                    "y": -0.8172845244407654,
                    "z": 0.07747596502304077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.476381301879883,
                "transform": {
                    "location": {
                        "x": 1255.028076171875,
                        "y": 4102.0390625,
                        "z": 364.27264404296875
                    },
                    "rotation": {
                        "roll": 0.0004592025652527809,
                        "pitch": -0.9196166396141052,
                        "yaw": 9.21971321105957
                    }
                },
                "velocity": {
                    "x": 7.3785014152526855,
                    "y": 1.200465440750122,
                    "z": -0.11347014456987381
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5284243822097778,
                "transform": {
                    "location": {
                        "x": 1205.4593505859375,
                        "y": 4090.73828125,
                        "z": 365.0085754394531
                    },
                    "rotation": {
                        "roll": 0.0010981305968016386,
                        "pitch": 1.0113461017608643,
                        "yaw": -170.73672485351562
                    }
                },
                "velocity": {
                    "x": -1.5084583759307861,
                    "y": -0.2451588362455368,
                    "z": 0.023056097328662872
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.124979257583618,
                "transform": {
                    "location": {
                        "x": 1160.182861328125,
                        "y": 4083.373046875,
                        "z": 365.720458984375
                    },
                    "rotation": {
                        "roll": 0.013925124891102314,
                        "pitch": 0.9787387251853943,
                        "yaw": -170.16421508789062
                    }
                },
                "velocity": {
                    "x": -2.095902681350708,
                    "y": -0.34856733679771423,
                    "z": 0.035076312720775604
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.762947082519531,
                "transform": {
                    "location": {
                        "x": 1146.849365234375,
                        "y": 4081.21435546875,
                        "z": 365.94390869140625
                    },
                    "rotation": {
                        "roll": -0.0010681030107662082,
                        "pitch": 1.2778122425079346,
                        "yaw": -170.75889587402344
                    }
                },
                "velocity": {
                    "x": -4.700270652770996,
                    "y": -0.7660537362098694,
                    "z": 0.079251229763031
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.016062460839748383,
        "expert_target_speed": 8.234086821240464,
        "target_point": [
            33.125117082674784,
            0.0534508987541793
        ],
        "target_point_next": [
            70.12514872376057,
            0.09766538790512946
        ]
    },
    "205": {
        "acceleration": [
            -0.750732421875,
            -0.10766267776489258,
            0.008348822593688965
        ],
        "angular_velocity": [
            0.21360783278942108,
            -1.4161128997802734,
            -0.11114604771137238
        ],
        "forward_vector": [
            -0.9870103001594543,
            -0.1587732881307602,
            0.02452795021235943
        ],
        "right_vector": [
            0.1588200330734253,
            -0.9873075485229492,
            -4.2792173189809546e-05
        ],
        "location": [
            1187.1502685546875,
            4087.8798828125,
            365.2860412597656
        ],
        "rotation": [
            0.0024525488261133432,
            1.4054889678955078,
            -170.8615264892578
        ],
        "velocity": [
            -8.302905082702637,
            -1.3338699340820312,
            0.1280987709760666
        ],
        "speed": 8.40936631461713,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.48595428466797,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1160.043701171875,
                4083.349853515625,
                365.7225341796875
            ],
            "velocity": [
                -0.5675275325775146,
                -0.0937562957406044,
                0.008494501002132893
            ],
            "speed_kmh": 2.071016827802828,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.312582969665527,
                "transform": {
                    "location": {
                        "x": 1132.879150390625,
                        "y": 4082.143310546875,
                        "z": 366.2074279785156
                    },
                    "rotation": {
                        "roll": -0.004974360577762127,
                        "pitch": -0.8196089863777161,
                        "yaw": 9.677102088928223
                    }
                },
                "velocity": {
                    "x": 7.210102558135986,
                    "y": 1.2134004831314087,
                    "z": -0.12628497183322906
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.353239059448242,
                "transform": {
                    "location": {
                        "x": 1176.568359375,
                        "y": 4089.281982421875,
                        "z": 365.4495544433594
                    },
                    "rotation": {
                        "roll": -0.0006408629706129432,
                        "pitch": -0.9006013870239258,
                        "yaw": 9.232050895690918
                    }
                },
                "velocity": {
                    "x": 8.244035720825195,
                    "y": 1.3398635387420654,
                    "z": -0.13127565383911133
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.5395402908325195,
                "transform": {
                    "location": {
                        "x": 1218.720703125,
                        "y": 4092.899658203125,
                        "z": 364.8226623535156
                    },
                    "rotation": {
                        "roll": -0.0014953577192500234,
                        "pitch": 0.7648513913154602,
                        "yaw": -171.02920532226562
                    }
                },
                "velocity": {
                    "x": -5.466363906860352,
                    "y": -0.8939235210418701,
                    "z": 0.07922160625457764
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1256.858154296875,
                        "y": 4102.30712890625,
                        "z": 364.2451477050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8675159215927124,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.461937427520752,
                "transform": {
                    "location": {
                        "x": 1204.975341796875,
                        "y": 4090.6591796875,
                        "z": 365.01519775390625
                    },
                    "rotation": {
                        "roll": 0.0016042107017710805,
                        "pitch": 1.1859188079833984,
                        "yaw": -170.74700927734375
                    }
                },
                "velocity": {
                    "x": -2.429750680923462,
                    "y": -0.3951329290866852,
                    "z": 0.03629834204912186
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5752824544906616,
                "transform": {
                    "location": {
                        "x": 1160.043701171875,
                        "y": 4083.349853515625,
                        "z": 365.7225341796875
                    },
                    "rotation": {
                        "roll": 0.00954829715192318,
                        "pitch": 0.7984763979911804,
                        "yaw": -170.1614532470703
                    }
                },
                "velocity": {
                    "x": -0.5675275325775146,
                    "y": -0.0937562957406044,
                    "z": 0.008494501002132893
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.428987979888916,
                "transform": {
                    "location": {
                        "x": 1145.5516357421875,
                        "y": 4081.00244140625,
                        "z": 365.9661560058594
                    },
                    "rotation": {
                        "roll": -0.0007629370666109025,
                        "pitch": 1.137588381767273,
                        "yaw": -170.7416534423828
                    }
                },
                "velocity": {
                    "x": -5.3573899269104,
                    "y": -0.8742230534553528,
                    "z": 0.08954137563705444
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01748274639248848,
        "expert_target_speed": 8.7341428851035,
        "target_point": [
            31.072395974921832,
            0.06935110567123193
        ],
        "target_point_next": [
            68.07240182383387,
            0.1315085096901054
        ]
    },
    "210": {
        "acceleration": [
            -2.316608428955078,
            -0.34972667694091797,
            0.0017413496971130371
        ],
        "angular_velocity": [
            0.1500798463821411,
            -0.8582764863967896,
            -0.12017121911048889
        ],
        "forward_vector": [
            -0.9870727062225342,
            -0.15827007591724396,
            0.025260619819164276
        ],
        "right_vector": [
            0.1583194136619568,
            -0.9873879551887512,
            -4.790629827766679e-05
        ],
        "location": [
            1184.8424072265625,
            4087.510009765625,
            365.3219909667969
        ],
        "rotation": [
            0.002745704958215356,
            1.4474809169769287,
            -170.89056396484375
        ],
        "velocity": [
            -9.6728515625,
            -1.5489850044250488,
            0.15088683366775513
        ],
        "speed": 9.796091664234893,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.415006637573242,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1159.78076171875,
                4083.30615234375,
                365.72711181640625
            ],
            "velocity": [
                -1.455707311630249,
                -0.2423498034477234,
                0.024257611483335495
            ],
            "speed_kmh": 5.313392235059832,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.479724884033203,
                "transform": {
                    "location": {
                        "x": 1134.881591796875,
                        "y": 4082.48046875,
                        "z": 366.1726379394531
                    },
                    "rotation": {
                        "roll": -0.001220706501044333,
                        "pitch": -0.8373401761054993,
                        "yaw": 9.584151268005371
                    }
                },
                "velocity": {
                    "x": 8.363161087036133,
                    "y": 1.3935216665267944,
                    "z": -0.14617888629436493
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.332742691040039,
                "transform": {
                    "location": {
                        "x": 1178.626708984375,
                        "y": 4089.616455078125,
                        "z": 365.4171447753906
                    },
                    "rotation": {
                        "roll": 0.00031735567608848214,
                        "pitch": -0.8950142860412598,
                        "yaw": 9.23176097869873
                    }
                },
                "velocity": {
                    "x": 8.2238187789917,
                    "y": 1.3366527557373047,
                    "z": -0.12944862246513367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.0561747550964355,
                "transform": {
                    "location": {
                        "x": 1217.3021240234375,
                        "y": 4092.669921875,
                        "z": 364.8432312011719
                    },
                    "rotation": {
                        "roll": -0.0002746605023276061,
                        "pitch": 0.7809706330299377,
                        "yaw": -170.8408966064453
                    }
                },
                "velocity": {
                    "x": -5.9764885902404785,
                    "y": -0.9753634929656982,
                    "z": 0.08665559440851212
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1258.6715087890625,
                        "y": 4102.54150390625,
                        "z": 364.2182312011719
                    },
                    "rotation": {
                        "roll": 1.3341769466990172e-08,
                        "pitch": -0.8751521110534668,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8489534854888916,
                "transform": {
                    "location": {
                        "x": 1204.193603515625,
                        "y": 4090.531982421875,
                        "z": 365.0262145996094
                    },
                    "rotation": {
                        "roll": 0.000622634484898299,
                        "pitch": 1.378441333770752,
                        "yaw": -170.75039672851562
                    }
                },
                "velocity": {
                    "x": -3.7984938621520996,
                    "y": -0.6186125874519348,
                    "z": 0.05662591755390167
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4759423732757568,
                "transform": {
                    "location": {
                        "x": 1159.78076171875,
                        "y": 4083.30615234375,
                        "z": 365.72711181640625
                    },
                    "rotation": {
                        "roll": 0.00939791090786457,
                        "pitch": 1.0212019681930542,
                        "yaw": -170.23358154296875
                    }
                },
                "velocity": {
                    "x": -1.455707311630249,
                    "y": -0.2423498034477234,
                    "z": 0.024257611483335495
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.290530204772949,
                "transform": {
                    "location": {
                        "x": 1144.16259765625,
                        "y": 4080.775634765625,
                        "z": 365.9896545410156
                    },
                    "rotation": {
                        "roll": 0.0016672401688992977,
                        "pitch": 1.1235592365264893,
                        "yaw": -170.73043823242188
                    }
                },
                "velocity": {
                    "x": -6.207658767700195,
                    "y": -1.0121808052062988,
                    "z": 0.10599590092897415
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3226656913757324,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01941663958132267,
        "expert_target_speed": 9.612984178522325,
        "target_point": [
            28.73504428199253,
            0.08527458072342675
        ],
        "target_point_next": [
            65.73501387157462,
            0.1661864611882855
        ]
    },
    "215": {
        "acceleration": [
            0.4963874816894531,
            -0.013470649719238281,
            0.008485913276672363
        ],
        "angular_velocity": [
            0.0661335214972496,
            -1.0566991567611694,
            0.2706478238105774
        ],
        "forward_vector": [
            -0.9872280955314636,
            -0.15815426409244537,
            0.019182218238711357
        ],
        "right_vector": [
            0.15818509459495544,
            -0.9874094724655151,
            9.15955679374747e-05
        ],
        "location": [
            1182.4354248046875,
            4087.124267578125,
            365.3609313964844
        ],
        "rotation": [
            -0.005249005276709795,
            1.0991276502609253,
            -170.89852905273438
        ],
        "velocity": [
            -9.574028015136719,
            -1.5388987064361572,
            0.15062864124774933
        ],
        "speed": 9.696918152861434,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.479164123535156,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1159.2855224609375,
                4083.223876953125,
                365.7352600097656
            ],
            "velocity": [
                -2.5009090900421143,
                -0.4145807921886444,
                0.04134361073374748
            ],
            "speed_kmh": 9.127354553240487,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.927989482879639,
                "transform": {
                    "location": {
                        "x": 1136.9068603515625,
                        "y": 4082.817626953125,
                        "z": 366.1388854980469
                    },
                    "rotation": {
                        "roll": 0.0009191847057081759,
                        "pitch": -0.9910262227058411,
                        "yaw": 9.409807205200195
                    }
                },
                "velocity": {
                    "x": 7.821134090423584,
                    "y": 1.2902722358703613,
                    "z": -0.13443851470947266
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.35276985168457,
                "transform": {
                    "location": {
                        "x": 1180.6851806640625,
                        "y": 4089.951171875,
                        "z": 365.3847961425781
                    },
                    "rotation": {
                        "roll": -0.0005798357888124883,
                        "pitch": -0.8913259506225586,
                        "yaw": 9.236543655395508
                    }
                },
                "velocity": {
                    "x": 8.243473052978516,
                    "y": 1.3405219316482544,
                    "z": -0.13006097078323364
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.02301549911499,
                "transform": {
                    "location": {
                        "x": 1215.739990234375,
                        "y": 4092.41552734375,
                        "z": 364.8656921386719
                    },
                    "rotation": {
                        "roll": -0.0006713817128911614,
                        "pitch": 0.8207018375396729,
                        "yaw": -170.76707458496094
                    }
                },
                "velocity": {
                    "x": -5.943629741668701,
                    "y": -0.9707977175712585,
                    "z": 0.08681852370500565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4176,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1260.4149169921875,
                        "y": 4102.81982421875,
                        "z": 364.1914367675781
                    },
                    "rotation": {
                        "roll": 1.3341769466990172e-08,
                        "pitch": -0.8751521110534668,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.14600944519043,
                "transform": {
                    "location": {
                        "x": 1203.07568359375,
                        "y": 4090.3505859375,
                        "z": 365.04290771484375
                    },
                    "rotation": {
                        "roll": 0.0033669322729110718,
                        "pitch": 1.4399335384368896,
                        "yaw": -170.76023864746094
                    }
                },
                "velocity": {
                    "x": -5.078878402709961,
                    "y": -0.8245837688446045,
                    "z": 0.08043678104877472
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5353763103485107,
                "transform": {
                    "location": {
                        "x": 1159.2855224609375,
                        "y": 4083.223876953125,
                        "z": 365.7352600097656
                    },
                    "rotation": {
                        "roll": 0.009803910739719868,
                        "pitch": 1.0824756622314453,
                        "yaw": -170.2572021484375
                    }
                },
                "velocity": {
                    "x": -2.5009090900421143,
                    "y": -0.4145807921886444,
                    "z": 0.04134361073374748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.357756614685059,
                "transform": {
                    "location": {
                        "x": 1142.302734375,
                        "y": 4080.472412109375,
                        "z": 366.0213928222656
                    },
                    "rotation": {
                        "roll": -0.00030518174753524363,
                        "pitch": 1.3476781845092773,
                        "yaw": -170.75025939941406
                    }
                },
                "velocity": {
                    "x": -8.247727394104004,
                    "y": -1.3444503545761108,
                    "z": 0.1397736370563507
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3204040229320526,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.024107912555336952,
        "expert_target_speed": 9.529672304470147,
        "target_point": [
            26.297336253462483,
            0.0891210666739859
        ],
        "target_point_next": [
            63.29729425954042,
            0.17516704780605785
        ]
    },
    "220": {
        "acceleration": [
            4.430789947509766,
            0.640871524810791,
            -0.07425427436828613
        ],
        "angular_velocity": [
            0.11422829329967499,
            -1.0906637907028198,
            0.49944549798965454
        ],
        "forward_vector": [
            -0.9870411157608032,
            -0.16014280915260315,
            0.010199607349932194
        ],
        "right_vector": [
            0.16015449166297913,
            -0.9870918989181519,
            0.0003344756260048598
        ],
        "location": [
            1180.2459716796875,
            4086.77001953125,
            365.397216796875
        ],
        "rotation": [
            -0.0191650390625,
            0.5844045877456665,
            -170.78433227539062
        ],
        "velocity": [
            -8.105082511901855,
            -1.3224138021469116,
            0.12770499289035797
        ],
        "speed": 8.212255523840327,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.083131790161133,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1158.474365234375,
                4083.090576171875,
                365.7486877441406
            ],
            "velocity": [
                -3.964341878890991,
                -0.6516684293746948,
                0.06551115214824677
            ],
            "speed_kmh": 14.465089388377262,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.953551769256592,
                "transform": {
                    "location": {
                        "x": 1138.8431396484375,
                        "y": 4083.137451171875,
                        "z": 366.1053771972656
                    },
                    "rotation": {
                        "roll": -0.0017700177850201726,
                        "pitch": -0.979121208190918,
                        "yaw": 9.384407043457031
                    }
                },
                "velocity": {
                    "x": 7.846238136291504,
                    "y": 1.295121431350708,
                    "z": -0.13489790260791779
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.332321166992188,
                "transform": {
                    "location": {
                        "x": 1182.7435302734375,
                        "y": 4090.2861328125,
                        "z": 365.3525390625
                    },
                    "rotation": {
                        "roll": -0.0019836428109556437,
                        "pitch": -0.8909912705421448,
                        "yaw": 9.240676879882812
                    }
                },
                "velocity": {
                    "x": 8.223220825195312,
                    "y": 1.3377333879470825,
                    "z": -0.12918509542942047
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0065298080444336,
                "transform": {
                    "location": {
                        "x": 1214.509521484375,
                        "y": 4092.214599609375,
                        "z": 364.8814697265625
                    },
                    "rotation": {
                        "roll": 0.0003393549704924226,
                        "pitch": 1.077585220336914,
                        "yaw": -170.7299041748047
                    }
                },
                "velocity": {
                    "x": -2.9667348861694336,
                    "y": -0.48570987582206726,
                    "z": 0.042325761169195175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.334776878356934,
                "transform": {
                    "location": {
                        "x": 1201.758544921875,
                        "y": 4090.136474609375,
                        "z": 365.06378173828125
                    },
                    "rotation": {
                        "roll": 0.0008302143542096019,
                        "pitch": 1.1696220636367798,
                        "yaw": -170.7693328857422
                    }
                },
                "velocity": {
                    "x": -5.264941692352295,
                    "y": -0.8567073345184326,
                    "z": 0.07927332073450089
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.018080234527588,
                "transform": {
                    "location": {
                        "x": 1158.474365234375,
                        "y": 4083.090576171875,
                        "z": 365.7486877441406
                    },
                    "rotation": {
                        "roll": 0.009530368261039257,
                        "pitch": 1.1524919271469116,
                        "yaw": -170.44093322753906
                    }
                },
                "velocity": {
                    "x": -3.964341878890991,
                    "y": -0.6516684293746948,
                    "z": 0.06551115214824677
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.029792785644531,
                "transform": {
                    "location": {
                        "x": 1140.263671875,
                        "y": 4080.14013671875,
                        "z": 366.0562438964844
                    },
                    "rotation": {
                        "roll": -0.0009765613940544426,
                        "pitch": 1.0304433107376099,
                        "yaw": -170.72744750976562
                    }
                },
                "velocity": {
                    "x": -7.923824787139893,
                    "y": -1.293007493019104,
                    "z": 0.13675568997859955
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02181597240269184,
        "expert_target_speed": 8.557081577079854,
        "target_point": [
            24.07953563610134,
            0.03768512953619618
        ],
        "target_point_next": [
            61.07959164524482,
            0.05000108039368456
        ]
    },
    "225": {
        "acceleration": [
            1.4307498931884766,
            0.18170833587646484,
            -0.019768476486206055
        ],
        "angular_velocity": [
            -0.07276766002178192,
            0.5931229591369629,
            0.43803250789642334
        ],
        "forward_vector": [
            -0.9867347478866577,
            -0.16211780905723572,
            0.008509651757776737
        ],
        "right_vector": [
            0.1621266007423401,
            -0.9867699146270752,
            0.00035045930417254567
        ],
        "location": [
            1178.36328125,
            4086.461181640625,
            365.42718505859375
        ],
        "rotation": [
            -0.02008056640625,
            0.4875730276107788,
            -170.66981506347656
        ],
        "velocity": [
            -7.1639862060546875,
            -1.1841849088668823,
            0.11351732164621353
        ],
        "speed": 7.261197715179631,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.35936164855957,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1157.3057861328125,
                4082.899169921875,
                365.7682189941406
            ],
            "velocity": [
                -5.295747756958008,
                -0.8632069230079651,
                0.0883544534444809
            ],
            "speed_kmh": 19.318915238874247,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.16684627532959,
                "transform": {
                    "location": {
                        "x": 1140.847900390625,
                        "y": 4083.467529296875,
                        "z": 366.07080078125
                    },
                    "rotation": {
                        "roll": 0.0015954053960740566,
                        "pitch": -0.9576061367988586,
                        "yaw": 9.319303512573242
                    }
                },
                "velocity": {
                    "x": 8.058497428894043,
                    "y": 1.3186399936676025,
                    "z": -0.1385144591331482
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.353106498718262,
                "transform": {
                    "location": {
                        "x": 1184.8018798828125,
                        "y": 4090.620849609375,
                        "z": 365.32025146484375
                    },
                    "rotation": {
                        "roll": 0.0002962552825920284,
                        "pitch": -0.8916606307029724,
                        "yaw": 9.232038497924805
                    }
                },
                "velocity": {
                    "x": 8.244096755981445,
                    "y": 1.3387006521224976,
                    "z": -0.13090001046657562
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.25714123249053955,
                "transform": {
                    "location": {
                        "x": 1214.3028564453125,
                        "y": 4092.180908203125,
                        "z": 364.88409423828125
                    },
                    "rotation": {
                        "roll": 0.0007448101532645524,
                        "pitch": 1.1350680589675903,
                        "yaw": -170.73484802246094
                    }
                },
                "velocity": {
                    "x": -0.25378137826919556,
                    "y": -0.04125227406620979,
                    "z": 0.0038559723179787397
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.048287391662598,
                "transform": {
                    "location": {
                        "x": 1200.1995849609375,
                        "y": 4089.88330078125,
                        "z": 365.08624267578125
                    },
                    "rotation": {
                        "roll": -0.0002746502577792853,
                        "pitch": 1.4000247716903687,
                        "yaw": -170.76588439941406
                    }
                },
                "velocity": {
                    "x": -6.95600700378418,
                    "y": -1.1319715976715088,
                    "z": 0.10471109300851822
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.366365432739258,
                "transform": {
                    "location": {
                        "x": 1157.3057861328125,
                        "y": 4082.899169921875,
                        "z": 365.7682189941406
                    },
                    "rotation": {
                        "roll": 0.007629429921507835,
                        "pitch": 1.1549917459487915,
                        "yaw": -170.62246704101562
                    }
                },
                "velocity": {
                    "x": -5.295747756958008,
                    "y": -0.8632069230079651,
                    "z": 0.0883544534444809
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.880954265594482,
                "transform": {
                    "location": {
                        "x": 1138.32421875,
                        "y": 4079.823974609375,
                        "z": 366.0896911621094
                    },
                    "rotation": {
                        "roll": 0.00037075739237479866,
                        "pitch": 0.9678172469139099,
                        "yaw": -170.7569122314453
                    }
                },
                "velocity": {
                    "x": -7.7774529457092285,
                    "y": -1.2658790349960327,
                    "z": 0.13496902585029602
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.018768487498164177,
        "expert_target_speed": 7.86571032350182,
        "target_point": [
            22.17170964902908,
            -0.009971200901545352
        ],
        "target_point_next": [
            59.17171635771639,
            -0.07161468793944259
        ]
    },
    "230": {
        "acceleration": [
            5.352783203125,
            0.8640491962432861,
            -0.07123082876205444
        ],
        "angular_velocity": [
            0.14399510622024536,
            -0.5235905051231384,
            0.3366188704967499
        ],
        "forward_vector": [
            -0.9864667654037476,
            -0.16383923590183258,
            0.006324606481939554
        ],
        "right_vector": [
            0.1638442426919937,
            -0.9864861369132996,
            0.000279626197880134
        ],
        "location": [
            1176.73828125,
            4086.191162109375,
            365.4533386230469
        ],
        "rotation": [
            -0.016021721065044403,
            0.3623756766319275,
            -170.57000732421875
        ],
        "velocity": [
            -5.731207847595215,
            -0.9588342308998108,
            0.09084992855787277
        ],
        "speed": 5.810861078590866,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.069734573364258,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1155.965576171875,
                4082.681884765625,
                365.79010009765625
            ],
            "velocity": [
                -5.587203025817871,
                -0.9063097834587097,
                0.0922020897269249
            ],
            "speed_kmh": 20.379541271982585,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.951626300811768,
                "transform": {
                    "location": {
                        "x": 1142.8321533203125,
                        "y": 4083.7919921875,
                        "z": 366.0371398925781
                    },
                    "rotation": {
                        "roll": -0.0021362416446208954,
                        "pitch": -0.9815049767494202,
                        "yaw": 9.312336921691895
                    }
                },
                "velocity": {
                    "x": 7.845955848693848,
                    "y": 1.2849777936935425,
                    "z": -0.13479208946228027
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.33238410949707,
                "transform": {
                    "location": {
                        "x": 1186.8602294921875,
                        "y": 4090.95556640625,
                        "z": 365.28802490234375
                    },
                    "rotation": {
                        "roll": 0.0001777998695615679,
                        "pitch": -0.8914421200752258,
                        "yaw": 9.232620239257812
                    }
                },
                "velocity": {
                    "x": 8.223593711853027,
                    "y": 1.3358805179595947,
                    "z": -0.1286388486623764
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2179436683654785,
                "transform": {
                    "location": {
                        "x": 1214.1148681640625,
                        "y": 4092.14990234375,
                        "z": 364.88970947265625
                    },
                    "rotation": {
                        "roll": -0.000549321819562465,
                        "pitch": 0.7875344157218933,
                        "yaw": -170.73512268066406
                    }
                },
                "velocity": {
                    "x": -1.2018921375274658,
                    "y": -0.19635501503944397,
                    "z": 0.016940860077738762
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.999821662902832,
                "transform": {
                    "location": {
                        "x": 1198.302001953125,
                        "y": 4089.574951171875,
                        "z": 365.114990234375
                    },
                    "rotation": {
                        "roll": 0.001292899833060801,
                        "pitch": 1.3891100883483887,
                        "yaw": -170.765869140625
                    }
                },
                "velocity": {
                    "x": -7.895463466644287,
                    "y": -1.282505750656128,
                    "z": 0.11824275553226471
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.660984039306641,
                "transform": {
                    "location": {
                        "x": 1155.965576171875,
                        "y": 4082.681884765625,
                        "z": 365.79010009765625
                    },
                    "rotation": {
                        "roll": 0.003120612120255828,
                        "pitch": 1.0289201736450195,
                        "yaw": -170.69444274902344
                    }
                },
                "velocity": {
                    "x": -5.587203025817871,
                    "y": -0.9063097834587097,
                    "z": 0.0922020897269249
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.144723892211914,
                "transform": {
                    "location": {
                        "x": 1136.3314208984375,
                        "y": 4079.49951171875,
                        "z": 366.1241760253906
                    },
                    "rotation": {
                        "roll": 0.0008079073159024119,
                        "pitch": 1.0307642221450806,
                        "yaw": -170.74217224121094
                    }
                },
                "velocity": {
                    "x": -8.037789344787598,
                    "y": -1.3080917596817017,
                    "z": 0.1391545832157135
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01201725471764803,
        "expert_target_speed": 6.680857851733233,
        "target_point": [
            20.524377389615363,
            -0.04871893005515382
        ],
        "target_point_next": [
            57.524220590329925,
            -0.17481208980850305
        ]
    },
    "235": {
        "acceleration": [
            1.9420051574707031,
            0.3320658206939697,
            -0.026681870222091675
        ],
        "angular_velocity": [
            -0.06502100825309753,
            0.769550085067749,
            0.11327153444290161
        ],
        "forward_vector": [
            -0.9862712025642395,
            -0.1649387627840042,
            0.008015546016395092
        ],
        "right_vector": [
            0.16494493186473846,
            -0.9863027930259705,
            0.00010865349759114906
        ],
        "location": [
            1175.4110107421875,
            4085.96875,
            365.4740295410156
        ],
        "rotation": [
            -0.006225586868822575,
            0.4592618942260742,
            -170.50601196289062
        ],
        "velocity": [
            -4.979195594787598,
            -0.8356097340583801,
            0.07940685003995895
        ],
        "speed": 5.048824853251035,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.382524490356445,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1154.328369140625,
                4082.416748046875,
                365.81732177734375
            ],
            "velocity": [
                -7.424717426300049,
                -1.2006491422653198,
                0.1225920245051384
            ],
            "speed_kmh": 27.07980590253502,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053325653076172,
                "transform": {
                    "location": {
                        "x": 1144.802001953125,
                        "y": 4084.114501953125,
                        "z": 366.00341796875
                    },
                    "rotation": {
                        "roll": 0.0009225438698194921,
                        "pitch": -0.9554067850112915,
                        "yaw": 9.271389961242676
                    }
                },
                "velocity": {
                    "x": 7.94721794128418,
                    "y": 1.29603111743927,
                    "z": -0.13446788489818573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.352714538574219,
                "transform": {
                    "location": {
                        "x": 1188.918701171875,
                        "y": 4091.290283203125,
                        "z": 365.25604248046875
                    },
                    "rotation": {
                        "roll": 0.0005578793352469802,
                        "pitch": -0.8747832775115967,
                        "yaw": 9.235031127929688
                    }
                },
                "velocity": {
                    "x": 8.243654251098633,
                    "y": 1.339323878288269,
                    "z": -0.12738864123821259
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.948796033859253,
                "transform": {
                    "location": {
                        "x": 1213.7269287109375,
                        "y": 4092.086669921875,
                        "z": 364.8957214355469
                    },
                    "rotation": {
                        "roll": -9.155503357760608e-05,
                        "pitch": 0.7488141059875488,
                        "yaw": -170.7277069091797
                    }
                },
                "velocity": {
                    "x": -1.9231512546539307,
                    "y": -0.31389254331588745,
                    "z": 0.02768455445766449
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.607436180114746,
                "transform": {
                    "location": {
                        "x": 1196.1270751953125,
                        "y": 4089.22119140625,
                        "z": 365.1476135253906
                    },
                    "rotation": {
                        "roll": 0.0003766569134313613,
                        "pitch": 1.5020405054092407,
                        "yaw": -170.7635040283203
                    }
                },
                "velocity": {
                    "x": -9.481780052185059,
                    "y": -1.5419154167175293,
                    "z": 0.1455070525407791
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.5221686363220215,
                "transform": {
                    "location": {
                        "x": 1154.328369140625,
                        "y": 4082.416748046875,
                        "z": 365.81732177734375
                    },
                    "rotation": {
                        "roll": 0.00200384552590549,
                        "pitch": 1.1996065378189087,
                        "yaw": -170.7814178466797
                    }
                },
                "velocity": {
                    "x": -7.424717426300049,
                    "y": -1.2006491422653198,
                    "z": 0.1225920245051384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.150866985321045,
                "transform": {
                    "location": {
                        "x": 1134.4307861328125,
                        "y": 4079.190185546875,
                        "z": 366.1571044921875
                    },
                    "rotation": {
                        "roll": -0.0003967283118981868,
                        "pitch": 0.8509185910224915,
                        "yaw": -170.76776123046875
                    }
                },
                "velocity": {
                    "x": -7.057069778442383,
                    "y": -1.1479065418243408,
                    "z": 0.12238480895757675
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.004121399484574795,
        "expert_target_speed": 6.02691758239777,
        "target_point": [
            19.178533811519806,
            -0.07208951735332869
        ],
        "target_point_next": [
            56.17821304564004,
            -0.23951990471329587
        ]
    },
    "240": {
        "acceleration": [
            0.48529624938964844,
            0.10778188705444336,
            -0.0150240957736969
        ],
        "angular_velocity": [
            -0.09239721298217773,
            1.0164002180099487,
            0.7241474390029907
        ],
        "forward_vector": [
            -0.9862216114997864,
            -0.16494835913181305,
            0.012603306211531162
        ],
        "right_vector": [
            0.1649613082408905,
            -0.986299991607666,
            -1.3550510630011559e-05
        ],
        "location": [
            1174.169921875,
            4085.760498046875,
            365.49273681640625
        ],
        "rotation": [
            0.0007764487527310848,
            0.7221353650093079,
            -170.5050048828125
        ],
        "velocity": [
            -4.975468635559082,
            -0.8334032893180847,
            0.07979635149240494
        ],
        "speed": 5.044784354764667,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.124839782714844,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1152.3533935546875,
                4082.09716796875,
                365.8500671386719
            ],
            "velocity": [
                -8.22823715209961,
                -1.3315794467926025,
                0.13749846816062927
            ],
            "speed_kmh": 30.011111539369026,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.061339378356934,
                "transform": {
                    "location": {
                        "x": 1146.79541015625,
                        "y": 4084.43994140625,
                        "z": 365.9697265625
                    },
                    "rotation": {
                        "roll": -0.0006713735638186336,
                        "pitch": -0.9590746164321899,
                        "yaw": 9.279415130615234
                    }
                },
                "velocity": {
                    "x": 7.955073833465576,
                    "y": 1.2977144718170166,
                    "z": -0.13393758237361908
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.332106590270996,
                "transform": {
                    "location": {
                        "x": 1190.97705078125,
                        "y": 4091.625,
                        "z": 365.2244567871094
                    },
                    "rotation": {
                        "roll": -3.0512603188981302e-05,
                        "pitch": -0.8722492456436157,
                        "yaw": 9.237247467041016
                    }
                },
                "velocity": {
                    "x": 8.223105430603027,
                    "y": 1.3373606204986572,
                    "z": -0.1264829784631729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8378045558929443,
                "transform": {
                    "location": {
                        "x": 1213.132568359375,
                        "y": 4091.989990234375,
                        "z": 364.90447998046875
                    },
                    "rotation": {
                        "roll": -0.00054931576596573,
                        "pitch": 0.7403787970542908,
                        "yaw": -170.7254180908203
                    }
                },
                "velocity": {
                    "x": -2.8004112243652344,
                    "y": -0.45729222893714905,
                    "z": 0.041423797607421875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.032593727111816,
                "transform": {
                    "location": {
                        "x": 1193.6610107421875,
                        "y": 4088.8203125,
                        "z": 365.1861877441406
                    },
                    "rotation": {
                        "roll": 0.0012255143374204636,
                        "pitch": 1.300925612449646,
                        "yaw": -170.76637268066406
                    }
                },
                "velocity": {
                    "x": -9.90146255493164,
                    "y": -1.6096231937408447,
                    "z": 0.15193767845630646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.336420059204102,
                "transform": {
                    "location": {
                        "x": 1152.3533935546875,
                        "y": 4082.09716796875,
                        "z": 365.8500671386719
                    },
                    "rotation": {
                        "roll": -0.0005188061622902751,
                        "pitch": 1.1176238059997559,
                        "yaw": -170.80047607421875
                    }
                },
                "velocity": {
                    "x": -8.22823715209961,
                    "y": -1.3315794467926025,
                    "z": 0.13749846816062927
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.57498836517334,
                "transform": {
                    "location": {
                        "x": 1132.856201171875,
                        "y": 4078.93359375,
                        "z": 366.1846008300781
                    },
                    "rotation": {
                        "roll": 0.0003481585590634495,
                        "pitch": 0.6962831020355225,
                        "yaw": -170.6974639892578
                    }
                },
                "velocity": {
                    "x": -5.50147008895874,
                    "y": -0.8972532749176025,
                    "z": 0.09624278545379639
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0023300095926970243,
        "expert_target_speed": 6.037676150600386,
        "target_point": [
            17.92009305869109,
            -0.07308627506489529
        ],
        "target_point_next": [
            54.91976941322678,
            -0.2411518039885756
        ]
    },
    "245": {
        "acceleration": [
            1.4138507843017578,
            0.22240877151489258,
            -0.03722831606864929
        ],
        "angular_velocity": [
            0.03311309590935707,
            0.011023498140275478,
            0.10530514270067215
        ],
        "forward_vector": [
            -0.9859777092933655,
            -0.16615594923496246,
            0.015498374588787556
        ],
        "right_vector": [
            0.16617605090141296,
            -0.9860961437225342,
            1.0118819773197174e-05
        ],
        "location": [
            1172.9080810546875,
            4085.548583984375,
            365.51220703125
        ],
        "rotation": [
            -0.0005798352649435401,
            0.888027012348175,
            -170.4344482421875
        ],
        "velocity": [
            -5.055077075958252,
            -0.8530263304710388,
            0.0808940902352333
        ],
        "speed": 5.126544466241906,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.891765594482422,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1150.3333740234375,
                4081.77001953125,
                365.8836669921875
            ],
            "velocity": [
                -7.872294902801514,
                -1.2735711336135864,
                0.13122639060020447
            ],
            "speed_kmh": 28.712619379236617,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.003643035888672,
                "transform": {
                    "location": {
                        "x": 1148.7740478515625,
                        "y": 4084.7626953125,
                        "z": 365.9364318847656
                    },
                    "rotation": {
                        "roll": 0.0006490054074674845,
                        "pitch": -0.9581525325775146,
                        "yaw": 9.242936134338379
                    }
                },
                "velocity": {
                    "x": 7.898677825927734,
                    "y": 1.285175085067749,
                    "z": -0.13235285878181458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.352045059204102,
                "transform": {
                    "location": {
                        "x": 1193.035400390625,
                        "y": 4091.959228515625,
                        "z": 365.19287109375
                    },
                    "rotation": {
                        "roll": -0.0009460441069677472,
                        "pitch": -0.872495174407959,
                        "yaw": 9.23340129852295
                    }
                },
                "velocity": {
                    "x": 8.242880821228027,
                    "y": 1.3400143384933472,
                    "z": -0.12622036039829254
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.867945671081543,
                "transform": {
                    "location": {
                        "x": 1212.3062744140625,
                        "y": 4091.85498046875,
                        "z": 364.9167175292969
                    },
                    "rotation": {
                        "roll": 0.0001542251993669197,
                        "pitch": 0.7252021431922913,
                        "yaw": -170.72715759277344
                    }
                },
                "velocity": {
                    "x": -3.8170034885406494,
                    "y": -0.6231974959373474,
                    "z": 0.055799417197704315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.606886863708496,
                "transform": {
                    "location": {
                        "x": 1191.33447265625,
                        "y": 4088.44189453125,
                        "z": 365.2242431640625
                    },
                    "rotation": {
                        "roll": 6.566839147126302e-05,
                        "pitch": 0.6726916432380676,
                        "yaw": -170.7647247314453
                    }
                },
                "velocity": {
                    "x": -8.494325637817383,
                    "y": -1.3812785148620605,
                    "z": 0.13042177259922028
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.975727558135986,
                "transform": {
                    "location": {
                        "x": 1150.3333740234375,
                        "y": 4081.77001953125,
                        "z": 365.8836669921875
                    },
                    "rotation": {
                        "roll": -0.0009155308362096548,
                        "pitch": 0.9484946727752686,
                        "yaw": -170.81089782714844
                    }
                },
                "velocity": {
                    "x": -7.872294902801514,
                    "y": -1.2735711336135864,
                    "z": 0.13122639060020447
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.0307769775390625,
                "transform": {
                    "location": {
                        "x": 1131.5733642578125,
                        "y": 4078.724853515625,
                        "z": 366.2070617675781
                    },
                    "rotation": {
                        "roll": -3.0512313969666138e-05,
                        "pitch": 0.8357077240943909,
                        "yaw": -170.74606323242188
                    }
                },
                "velocity": {
                    "x": -4.964646339416504,
                    "y": -0.8082844614982605,
                    "z": 0.08763767033815384
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.011525088921189308,
        "expert_target_speed": 6.1166307576897685,
        "target_point": [
            16.640478092974057,
            -0.09443813566013448
        ],
        "target_point_next": [
            53.639919381756705,
            -0.30807493100516403
        ]
    },
    "250": {
        "acceleration": [
            -0.2264881134033203,
            -0.051114559173583984,
            0.02076581120491028
        ],
        "angular_velocity": [
            -0.05339914932847023,
            0.13569143414497375,
            0.08973655849695206
        ],
        "forward_vector": [
            -0.985906720161438,
            -0.16656221449375153,
            0.0156527329236269
        ],
        "right_vector": [
            0.16658255457878113,
            -0.9860274791717529,
            -3.986875526607037e-06
        ],
        "location": [
            1171.6531982421875,
            4085.336181640625,
            365.5321350097656
        ],
        "rotation": [
            0.00022845911735203117,
            0.8968721032142639,
            -170.4108123779297
        ],
        "velocity": [
            -5.020322322845459,
            -0.8502556681632996,
            0.08083131909370422
        ],
        "speed": 5.091814109578652,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.59711456298828,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1148.3807373046875,
                4081.454345703125,
                365.91650390625
            ],
            "velocity": [
                -7.878117561340332,
                -1.275871992111206,
                0.13038253784179688
            ],
            "speed_kmh": 28.734582386510855,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053210258483887,
                "transform": {
                    "location": {
                        "x": 1150.755126953125,
                        "y": 4085.0849609375,
                        "z": 365.9031066894531
                    },
                    "rotation": {
                        "roll": -0.00042725828825496137,
                        "pitch": -0.9440618753433228,
                        "yaw": 9.261086463928223
                    }
                },
                "velocity": {
                    "x": 7.947875022888184,
                    "y": 1.2915689945220947,
                    "z": -0.13164491951465607
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.331526756286621,
                "transform": {
                    "location": {
                        "x": 1195.0936279296875,
                        "y": 4092.293701171875,
                        "z": 365.1613464355469
                    },
                    "rotation": {
                        "roll": 0.00045322615187615156,
                        "pitch": -0.8720716834068298,
                        "yaw": 9.232940673828125
                    }
                },
                "velocity": {
                    "x": 8.22264289855957,
                    "y": 1.3366094827651978,
                    "z": -0.12632188200950623
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.957172393798828,
                "transform": {
                    "location": {
                        "x": 1211.209716796875,
                        "y": 4091.67626953125,
                        "z": 364.9328308105469
                    },
                    "rotation": {
                        "roll": 0.0006004365277476609,
                        "pitch": 0.7161111235618591,
                        "yaw": -170.7288818359375
                    }
                },
                "velocity": {
                    "x": -4.891921043395996,
                    "y": -0.7984352707862854,
                    "z": 0.07189437747001648
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.8509039878845215,
                "transform": {
                    "location": {
                        "x": 1189.4508056640625,
                        "y": 4088.135498046875,
                        "z": 365.2546691894531
                    },
                    "rotation": {
                        "roll": 0.00016088661504909396,
                        "pitch": 0.2842724621295929,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": -6.761322975158691,
                    "y": -1.0993446111679077,
                    "z": 0.10412074625492096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.981828212738037,
                "transform": {
                    "location": {
                        "x": 1148.3807373046875,
                        "y": 4081.454345703125,
                        "z": 365.91650390625
                    },
                    "rotation": {
                        "roll": -0.0010376081336289644,
                        "pitch": 0.9623667597770691,
                        "yaw": -170.80679321289062
                    }
                },
                "velocity": {
                    "x": -7.878117561340332,
                    "y": -1.275871992111206,
                    "z": 0.13038253784179688
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.385005474090576,
                "transform": {
                    "location": {
                        "x": 1130.3009033203125,
                        "y": 4078.517822265625,
                        "z": 366.2295227050781
                    },
                    "rotation": {
                        "roll": -0.0005493202479556203,
                        "pitch": 1.0000557899475098,
                        "yaw": -170.7852325439453
                    }
                },
                "velocity": {
                    "x": -5.314310073852539,
                    "y": -0.864726185798645,
                    "z": 0.09296104311943054
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02079050987958908,
        "expert_target_speed": 6.0912821211097405,
        "target_point": [
            15.367706223899262,
            -0.10169479023217098
        ],
        "target_point_next": [
            52.36705624787116,
            -0.3305925097717761
        ]
    },
    "255": {
        "acceleration": [
            -4.487514495849609,
            -0.7755398750305176,
            0.07177621126174927
        ],
        "angular_velocity": [
            -0.16733472049236298,
            0.9604881405830383,
            -0.6606138348579407
        ],
        "forward_vector": [
            -0.985727071762085,
            -0.16690534353256226,
            0.022017963230609894
        ],
        "right_vector": [
            0.16694538295269012,
            -0.985966145992279,
            -1.97308836504817e-05
        ],
        "location": [
            1170.2259521484375,
            4085.09423828125,
            365.55364990234375
        ],
        "rotation": [
            0.0011307704262435436,
            1.2616382837295532,
            -170.38970947265625
        ],
        "velocity": [
            -6.338808536529541,
            -1.0763832330703735,
            0.10080304741859436
        ],
        "speed": 6.429548547698727,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.173358917236328,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1146.383056640625,
                4081.130615234375,
                365.95025634765625
            ],
            "velocity": [
                -8.014092445373535,
                -1.2992260456085205,
                0.13497094810009003
            ],
            "speed_kmh": 29.23144208277205,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.035517692565918,
                "transform": {
                    "location": {
                        "x": 1152.7412109375,
                        "y": 4085.407958984375,
                        "z": 365.8699951171875
                    },
                    "rotation": {
                        "roll": 0.0014207345666363835,
                        "pitch": -0.950099766254425,
                        "yaw": 9.226479530334473
                    }
                },
                "velocity": {
                    "x": 7.930464744567871,
                    "y": 1.2884280681610107,
                    "z": -0.13123930990695953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.351513862609863,
                "transform": {
                    "location": {
                        "x": 1197.15185546875,
                        "y": 4092.628662109375,
                        "z": 365.1299133300781
                    },
                    "rotation": {
                        "roll": -6.1031798395561054e-05,
                        "pitch": -0.8674613237380981,
                        "yaw": 9.23626708984375
                    }
                },
                "velocity": {
                    "x": 8.242293357849121,
                    "y": 1.34028160572052,
                    "z": -0.1265837699174881
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.313385009765625,
                "transform": {
                    "location": {
                        "x": 1209.913818359375,
                        "y": 4091.46484375,
                        "z": 364.9517517089844
                    },
                    "rotation": {
                        "roll": 0.00018630636623129249,
                        "pitch": 0.7730885744094849,
                        "yaw": -170.7284698486328
                    }
                },
                "velocity": {
                    "x": -5.243519306182861,
                    "y": -0.8553662896156311,
                    "z": 0.07691093534231186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.840003967285156,
                "transform": {
                    "location": {
                        "x": 1187.8682861328125,
                        "y": 4087.878662109375,
                        "z": 365.27880859375
                    },
                    "rotation": {
                        "roll": -0.0003967240627389401,
                        "pitch": 0.396178275346756,
                        "yaw": -170.76611328125
                    }
                },
                "velocity": {
                    "x": -5.763622760772705,
                    "y": -0.937100887298584,
                    "z": 0.09020744264125824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.119845390319824,
                "transform": {
                    "location": {
                        "x": 1146.383056640625,
                        "y": 4081.130615234375,
                        "z": 365.95025634765625
                    },
                    "rotation": {
                        "roll": -0.00097657332662493,
                        "pitch": 0.9812248945236206,
                        "yaw": -170.79055786132812
                    }
                },
                "velocity": {
                    "x": -8.014092445373535,
                    "y": -1.2992260456085205,
                    "z": 0.13497094810009003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.036216735839844,
                "transform": {
                    "location": {
                        "x": 1128.654052734375,
                        "y": 4078.250732421875,
                        "z": 366.2586364746094
                    },
                    "rotation": {
                        "roll": -0.0014343338552862406,
                        "pitch": 1.2371248006820679,
                        "yaw": -170.82626342773438
                    }
                },
                "velocity": {
                    "x": -6.9442138671875,
                    "y": -1.1274149417877197,
                    "z": 0.12316431105136871
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03259744867682457,
        "expert_target_speed": 7.274680663444602,
        "target_point": [
            13.920060091100789,
            -0.10762763947501641
        ],
        "target_point_next": [
            50.9193233467276,
            -0.3501454805167743
        ]
    },
    "260": {
        "acceleration": [
            -4.04393196105957,
            -0.701603889465332,
            0.06394505500793457
        ],
        "angular_velocity": [
            0.009517954662442207,
            0.00099315051920712,
            0.2931603193283081
        ],
        "forward_vector": [
            -0.9855685234069824,
            -0.1675788313150406,
            0.023916108533740044
        ],
        "right_vector": [
            0.1676267832517624,
            -0.9858505129814148,
            -2.3283061589829401e-10
        ],
        "location": [
            1168.490966796875,
            4084.79931640625,
            365.5809020996094
        ],
        "rotation": [
            1.334402899288989e-08,
            1.3704227209091187,
            -170.3501434326172
        ],
        "velocity": [
            -7.414224147796631,
            -1.2630802392959595,
            0.11832442879676819
        ],
        "speed": 7.521043239117205,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.42388916015625,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1144.398681640625,
                4080.80859375,
                365.9837951660156
            ],
            "velocity": [
                -7.885190486907959,
                -1.2795008420944214,
                0.13493554294109344
            ],
            "speed_kmh": 28.762075810093894,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026982307434082,
                "transform": {
                    "location": {
                        "x": 1154.721435546875,
                        "y": 4085.730224609375,
                        "z": 365.8371276855469
                    },
                    "rotation": {
                        "roll": 0.00023879525542724878,
                        "pitch": -0.9398476481437683,
                        "yaw": 9.24334716796875
                    }
                },
                "velocity": {
                    "x": 7.921772480010986,
                    "y": 1.288702368736267,
                    "z": -0.13117966055870056
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.331324577331543,
                "transform": {
                    "location": {
                        "x": 1199.2099609375,
                        "y": 4092.963623046875,
                        "z": 365.0986633300781
                    },
                    "rotation": {
                        "roll": -0.0003051711537409574,
                        "pitch": -0.8528173565864563,
                        "yaw": 9.243788719177246
                    }
                },
                "velocity": {
                    "x": 8.22220516204834,
                    "y": 1.3381283283233643,
                    "z": -0.12539048492908478
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.883587837219238,
                "transform": {
                    "location": {
                        "x": 1208.502685546875,
                        "y": 4091.234619140625,
                        "z": 364.9722900390625
                    },
                    "rotation": {
                        "roll": 0.00012111393880331889,
                        "pitch": 0.7890233993530273,
                        "yaw": -170.7798614501953
                    }
                },
                "velocity": {
                    "x": -5.806599140167236,
                    "y": -0.9447720646858215,
                    "z": 0.08614540100097656
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.336991786956787,
                "transform": {
                    "location": {
                        "x": 1186.51611328125,
                        "y": 4087.658447265625,
                        "z": 365.2994079589844
                    },
                    "rotation": {
                        "roll": -0.0003051735693588853,
                        "pitch": 0.5260065197944641,
                        "yaw": -170.7666473388672
                    }
                },
                "velocity": {
                    "x": -5.267183780670166,
                    "y": -0.8563342690467834,
                    "z": 0.08334989100694656
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.989465236663818,
                "transform": {
                    "location": {
                        "x": 1144.398681640625,
                        "y": 4080.80859375,
                        "z": 365.9837951660156
                    },
                    "rotation": {
                        "roll": -0.0007324192556552589,
                        "pitch": 0.9545871615409851,
                        "yaw": -170.78298950195312
                    }
                },
                "velocity": {
                    "x": -7.885190486907959,
                    "y": -1.2795008420944214,
                    "z": 0.13493554294109344
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.615468978881836,
                "transform": {
                    "location": {
                        "x": 1126.9920654296875,
                        "y": 4077.9814453125,
                        "z": 366.2879638671875
                    },
                    "rotation": {
                        "roll": -0.0004272532823961228,
                        "pitch": 1.009665846824646,
                        "yaw": -171.02293395996094
                    }
                },
                "velocity": {
                    "x": -6.52984094619751,
                    "y": -1.054612159729004,
                    "z": 0.11575552076101303
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04238402470946312,
        "expert_target_speed": 8.156761895693737,
        "target_point": [
            12.160109376147767,
            -0.11716461385852717
        ],
        "target_point_next": [
            49.15919623561541,
            -0.38524655649674244
        ]
    },
    "265": {
        "acceleration": [
            -3.343067169189453,
            -0.44763803482055664,
            0.054121315479278564
        ],
        "angular_velocity": [
            0.09998428821563721,
            -0.041848570108413696,
            -0.3822348713874817
        ],
        "forward_vector": [
            -0.9855911731719971,
            -0.1674617975950241,
            0.023800984025001526
        ],
        "right_vector": [
            0.16750408709049225,
            -0.9858713746070862,
            -0.00022012913541402668
        ],
        "location": [
            1166.5179443359375,
            4084.463623046875,
            365.6125793457031
        ],
        "rotation": [
            0.012616044841706753,
            1.363824725151062,
            -170.35696411132812
        ],
        "velocity": [
            -8.324408531188965,
            -1.40744948387146,
            0.13467788696289062
        ],
        "speed": 8.442552424698448,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.381792068481445,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1142.4647216796875,
                4080.494873046875,
                366.0167236328125
            ],
            "velocity": [
                -7.363402366638184,
                -1.1952767372131348,
                0.1261722892522812
            ],
            "speed_kmh": 26.859064249930906,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043734550476074,
                "transform": {
                    "location": {
                        "x": 1156.7047119140625,
                        "y": 4086.052734375,
                        "z": 365.8043518066406
                    },
                    "rotation": {
                        "roll": -0.000549322459846735,
                        "pitch": -0.9315147995948792,
                        "yaw": 9.220658302307129
                    }
                },
                "velocity": {
                    "x": 7.9384331703186035,
                    "y": 1.2906347513198853,
                    "z": -0.13114014267921448
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.351785659790039,
                "transform": {
                    "location": {
                        "x": 1201.26806640625,
                        "y": 4093.298583984375,
                        "z": 365.06781005859375
                    },
                    "rotation": {
                        "roll": -0.0006408680928871036,
                        "pitch": -0.8526261448860168,
                        "yaw": 9.243939399719238
                    }
                },
                "velocity": {
                    "x": 8.24244213104248,
                    "y": 1.3414400815963745,
                    "z": -0.1224907785654068
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.696915626525879,
                "transform": {
                    "location": {
                        "x": 1206.7852783203125,
                        "y": 4090.954833984375,
                        "z": 364.9987487792969
                    },
                    "rotation": {
                        "roll": 0.0014925713185220957,
                        "pitch": 0.6905115842819214,
                        "yaw": -170.7593231201172
                    }
                },
                "velocity": {
                    "x": -7.595937728881836,
                    "y": -1.2375041246414185,
                    "z": 0.11324924230575562
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.990796089172363,
                "transform": {
                    "location": {
                        "x": 1185.1630859375,
                        "y": 4087.438232421875,
                        "z": 365.31939697265625
                    },
                    "rotation": {
                        "roll": -0.0006103581399656832,
                        "pitch": 0.8683151006698608,
                        "yaw": -170.7634735107422
                    }
                },
                "velocity": {
                    "x": -5.912395000457764,
                    "y": -0.9615530371665955,
                    "z": 0.0929563120007515
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.460851192474365,
                "transform": {
                    "location": {
                        "x": 1142.4647216796875,
                        "y": 4080.494873046875,
                        "z": 366.0167236328125
                    },
                    "rotation": {
                        "roll": -0.0013122602831572294,
                        "pitch": 0.9050751328468323,
                        "yaw": -170.7810821533203
                    }
                },
                "velocity": {
                    "x": -7.363402366638184,
                    "y": -1.1952767372131348,
                    "z": 0.1261722892522812
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.552725315093994,
                "transform": {
                    "location": {
                        "x": 1125.25341796875,
                        "y": 4077.701416015625,
                        "z": 366.31878662109375
                    },
                    "rotation": {
                        "roll": -0.0025939983315765858,
                        "pitch": 1.1482640504837036,
                        "yaw": -171.04537963867188
                    }
                },
                "velocity": {
                    "x": -7.455676078796387,
                    "y": -1.1996161937713623,
                    "z": 0.13221116364002228
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04905901104211807,
        "expert_target_speed": 8.832066775966705,
        "target_point": [
            10.15874686557909,
            -0.11616594118437829
        ],
        "target_point_next": [
            47.15786542001026,
            -0.37983724706965827
        ]
    },
    "270": {
        "acceleration": [
            -1.2055397033691406,
            -0.0876164436340332,
            0.018714070320129395
        ],
        "angular_velocity": [
            0.1608545035123825,
            -0.7376042604446411,
            -0.7116605043411255
        ],
        "forward_vector": [
            -0.986048698425293,
            -0.1648087501525879,
            0.023367779329419136
        ],
        "right_vector": [
            0.164841428399086,
            -0.9863199591636658,
            -0.0005343166412785649
        ],
        "location": [
            1164.3223876953125,
            4084.095458984375,
            365.6482238769531
        ],
        "rotation": [
            0.03062245063483715,
            1.3389970064163208,
            -170.51126098632812
        ],
        "velocity": [
            -9.096159934997559,
            -1.509846806526184,
            0.146878182888031
        ],
        "speed": 9.220616191027155,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.931087493896484,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1140.712158203125,
                4080.210205078125,
                366.0467529296875
            ],
            "velocity": [
                -6.923918724060059,
                -1.1234265565872192,
                0.11895204335451126
            ],
            "speed_kmh": 25.2557094453933,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03242015838623,
                "transform": {
                    "location": {
                        "x": 1158.68798828125,
                        "y": 4086.375,
                        "z": 365.77178955078125
                    },
                    "rotation": {
                        "roll": -0.0014648431679233909,
                        "pitch": -0.9339873194694519,
                        "yaw": 9.252684593200684
                    }
                },
                "velocity": {
                    "x": 7.926898002624512,
                    "y": 1.29103684425354,
                    "z": -0.13148628175258636
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.330520629882812,
                "transform": {
                    "location": {
                        "x": 1203.325927734375,
                        "y": 4093.63330078125,
                        "z": 365.0369567871094
                    },
                    "rotation": {
                        "roll": 0.0004135123745072633,
                        "pitch": -0.8532408475875854,
                        "yaw": 9.23961353302002
                    }
                },
                "velocity": {
                    "x": 8.221535682678223,
                    "y": 1.3375227451324463,
                    "z": -0.12228221446275711
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.621063232421875,
                "transform": {
                    "location": {
                        "x": 1204.76513671875,
                        "y": 4090.625732421875,
                        "z": 365.0285949707031
                    },
                    "rotation": {
                        "roll": -0.0002746579993981868,
                        "pitch": 0.7423800230026245,
                        "yaw": -170.78079223632812
                    }
                },
                "velocity": {
                    "x": -8.508317947387695,
                    "y": -1.3837990760803223,
                    "z": 0.1278754323720932
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.08151626586914,
                "transform": {
                    "location": {
                        "x": 1183.35205078125,
                        "y": 4087.14404296875,
                        "z": 365.3454284667969
                    },
                    "rotation": {
                        "roll": -0.002380368299782276,
                        "pitch": 1.5171693563461304,
                        "yaw": -170.76478576660156
                    }
                },
                "velocity": {
                    "x": -7.975616931915283,
                    "y": -1.2980746030807495,
                    "z": 0.1242220476269722
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.015474796295166,
                "transform": {
                    "location": {
                        "x": 1140.712158203125,
                        "y": 4080.210205078125,
                        "z": 366.0467529296875
                    },
                    "rotation": {
                        "roll": -0.0004577671061269939,
                        "pitch": 0.9103070497512817,
                        "yaw": -170.78443908691406
                    }
                },
                "velocity": {
                    "x": -6.923918724060059,
                    "y": -1.1234265565872192,
                    "z": 0.11895204335451126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.554288864135742,
                "transform": {
                    "location": {
                        "x": 1123.33740234375,
                        "y": 4077.392333984375,
                        "z": 366.35272216796875
                    },
                    "rotation": {
                        "roll": -0.006195050664246082,
                        "pitch": 1.054929494857788,
                        "yaw": -171.02163696289062
                    }
                },
                "velocity": {
                    "x": -7.4564642906188965,
                    "y": -1.2045245170593262,
                    "z": 0.13245446979999542
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04366513341665268,
        "expert_target_speed": 9.3479028741282,
        "target_point": [
            7.932812569356088,
            -0.08998816078710159
        ],
        "target_point_next": [
            44.93250705533979,
            -0.25401348281607206
        ]
    },
    "275": {
        "acceleration": [
            -1.2292671203613281,
            -0.08338451385498047,
            0.021738708019256592
        ],
        "angular_velocity": [
            0.02385801635682583,
            -0.32202470302581787,
            -0.7479709386825562
        ],
        "forward_vector": [
            -0.9865733981132507,
            -0.16165916621685028,
            0.023223696276545525
        ],
        "right_vector": [
            0.1616867482662201,
            -0.9868419170379639,
            -0.0006976094446144998
        ],
        "location": [
            1161.954345703125,
            4083.7060546875,
            365.6866455078125
        ],
        "rotation": [
            0.03998086228966713,
            1.3307393789291382,
            -170.6942596435547
        ],
        "velocity": [
            -9.902883529663086,
            -1.6121940612792969,
            0.16025614738464355
        ],
        "speed": 10.033258288975553,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.347187042236328,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1138.9195556640625,
                4079.919677734375,
                366.0777587890625
            ],
            "velocity": [
                -7.276845932006836,
                -1.1827272176742554,
                0.12458673119544983
            ],
            "speed_kmh": 26.5441972014909,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 1119.473388671875,
                        "y": 4079.8984375,
                        "z": 366.6063537597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0031088590621948,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": -1.954444250884535e-08,
                    "y": -3.1776561382201862e-09,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03562068939209,
                "transform": {
                    "location": {
                        "x": 1160.6697998046875,
                        "y": 4086.697021484375,
                        "z": 365.73944091796875
                    },
                    "rotation": {
                        "roll": 5.075945591670461e-05,
                        "pitch": -0.9251968860626221,
                        "yaw": 9.231420516967773
                    }
                },
                "velocity": {
                    "x": 7.930197715759277,
                    "y": 1.2908090353012085,
                    "z": -0.1302911937236786
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.351290702819824,
                "transform": {
                    "location": {
                        "x": 1205.3839111328125,
                        "y": 4093.96826171875,
                        "z": 365.00604248046875
                    },
                    "rotation": {
                        "roll": 2.354808884774684e-06,
                        "pitch": -0.8535686731338501,
                        "yaw": 9.235857009887695
                    }
                },
                "velocity": {
                    "x": 8.24212646484375,
                    "y": 1.3401974439620972,
                    "z": -0.12364820390939713
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.486946105957031,
                "transform": {
                    "location": {
                        "x": 1202.5260009765625,
                        "y": 4090.26220703125,
                        "z": 365.0621032714844
                    },
                    "rotation": {
                        "roll": 0.001339660375379026,
                        "pitch": 0.7551798224449158,
                        "yaw": -170.7523193359375
                    }
                },
                "velocity": {
                    "x": -9.363017082214355,
                    "y": -1.5220023393630981,
                    "z": 0.139898881316185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.802119255065918,
                "transform": {
                    "location": {
                        "x": 1181.2576904296875,
                        "y": 4086.803466796875,
                        "z": 365.37884521484375
                    },
                    "rotation": {
                        "roll": -0.0009155399166047573,
                        "pitch": 1.333573818206787,
                        "yaw": -170.76292419433594
                    }
                },
                "velocity": {
                    "x": -8.686931610107422,
                    "y": -1.412697434425354,
                    "z": 0.1371278613805771
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.373388290405273,
                "transform": {
                    "location": {
                        "x": 1138.9195556640625,
                        "y": 4079.919677734375,
                        "z": 366.0777587890625
                    },
                    "rotation": {
                        "roll": -0.0014648387441411614,
                        "pitch": 1.0007251501083374,
                        "yaw": -170.77346801757812
                    }
                },
                "velocity": {
                    "x": -7.276845932006836,
                    "y": -1.1827272176742554,
                    "z": 0.12458673119544983
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.893653869628906,
                "transform": {
                    "location": {
                        "x": 1121.5677490234375,
                        "y": 4077.10595703125,
                        "z": 366.38409423828125
                    },
                    "rotation": {
                        "roll": -0.005981434136629105,
                        "pitch": 0.907472550868988,
                        "yaw": -171.030517578125
                    }
                },
                "velocity": {
                    "x": -6.803838729858398,
                    "y": -1.102474570274353,
                    "z": 0.12161977589130402
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32799404859542847,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03816255182027817,
        "expert_target_speed": 9.852329564277273,
        "target_point": [
            42.53324401769543,
            -0.11186599318463664
        ],
        "target_point_next": [
            42.53324401769543,
            -0.11186599318463664
        ]
    },
    "280": {
        "acceleration": [
            1.1763381958007812,
            0.27712583541870117,
            -0.013307332992553711
        ],
        "angular_velocity": [
            0.14691036939620972,
            -0.990163266658783,
            -0.666475236415863
        ],
        "forward_vector": [
            -0.9871987700462341,
            -0.15845352411270142,
            0.01819283701479435
        ],
        "right_vector": [
            0.15846720337867737,
            -0.9873639941215515,
            -0.0006955376011319458
        ],
        "location": [
            1159.506103515625,
            4083.310546875,
            365.7276916503906
        ],
        "rotation": [
            0.03985796868801117,
            1.0424302816390991,
            -170.88133239746094
        ],
        "velocity": [
            -9.641101837158203,
            -1.5399197340011597,
            0.15850645303726196
        ],
        "speed": 9.763308733294338,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.76778793334961,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1137.0435791015625,
                4079.614501953125,
                366.1102294921875
            ],
            "velocity": [
                -7.864754676818848,
                -1.2791956663131714,
                0.13641151785850525
            ],
            "speed_kmh": 28.689383620561767,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.011184955947101116,
                "transform": {
                    "location": {
                        "x": 1119.470703125,
                        "y": 4079.89794921875,
                        "z": 366.34820556640625
                    },
                    "rotation": {
                        "roll": 0.0002028169110417366,
                        "pitch": -1.0231622457504272,
                        "yaw": 9.234798431396484
                    }
                },
                "velocity": {
                    "x": -9.250968287233263e-05,
                    "y": -6.403458974091336e-05,
                    "z": -0.01118438970297575
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.037907600402832,
                "transform": {
                    "location": {
                        "x": 1162.6529541015625,
                        "y": 4087.019287109375,
                        "z": 365.70709228515625
                    },
                    "rotation": {
                        "roll": -0.0012817392125725746,
                        "pitch": -0.9194595217704773,
                        "yaw": 9.262649536132812
                    }
                },
                "velocity": {
                    "x": 7.932404041290283,
                    "y": 1.2916717529296875,
                    "z": -0.12844769656658173
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.330788612365723,
                "transform": {
                    "location": {
                        "x": 1207.44189453125,
                        "y": 4094.302490234375,
                        "z": 364.9754333496094
                    },
                    "rotation": {
                        "roll": 0.00014877284411340952,
                        "pitch": -0.8440200686454773,
                        "yaw": 9.231252670288086
                    }
                },
                "velocity": {
                    "x": 8.222005844116211,
                    "y": 1.336287498474121,
                    "z": -0.1224450170993805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.287725448608398,
                "transform": {
                    "location": {
                        "x": 1200.0782470703125,
                        "y": 4089.864013671875,
                        "z": 365.0987854003906
                    },
                    "rotation": {
                        "roll": 0.0007079407223500311,
                        "pitch": 0.7606234550476074,
                        "yaw": -170.77737426757812
                    }
                },
                "velocity": {
                    "x": -10.153229713439941,
                    "y": -1.651094675064087,
                    "z": 0.15203748643398285
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.371271133422852,
                "transform": {
                    "location": {
                        "x": 1178.8477783203125,
                        "y": 4086.411865234375,
                        "z": 365.4161376953125
                    },
                    "rotation": {
                        "roll": 0.0006416841642931104,
                        "pitch": 1.5004490613937378,
                        "yaw": -170.7686004638672
                    }
                },
                "velocity": {
                    "x": -10.235512733459473,
                    "y": -1.6648586988449097,
                    "z": 0.16061216592788696
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.969273090362549,
                "transform": {
                    "location": {
                        "x": 1137.0435791015625,
                        "y": 4079.614501953125,
                        "z": 366.1102294921875
                    },
                    "rotation": {
                        "roll": -0.0015869128983467817,
                        "pitch": 1.0661447048187256,
                        "yaw": -170.76666259765625
                    }
                },
                "velocity": {
                    "x": -7.864754676818848,
                    "y": -1.2791956663131714,
                    "z": 0.13641151785850525
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.852834224700928,
                "transform": {
                    "location": {
                        "x": 1119.884033203125,
                        "y": 4076.833251953125,
                        "z": 366.4140625
                    },
                    "rotation": {
                        "roll": -0.005554192699491978,
                        "pitch": 0.9899129271507263,
                        "yaw": -171.0804443359375
                    }
                },
                "velocity": {
                    "x": -6.764105796813965,
                    "y": -1.0927151441574097,
                    "z": 0.1190793365240097
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3219231367111206,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.031606826931238174,
        "expert_target_speed": 9.692643242822133,
        "target_point": [
            40.053400716051904,
            0.024488300600839175
        ],
        "target_point_next": [
            40.053400716051904,
            0.024488300600839175
        ]
    },
    "285": {
        "acceleration": [
            5.902252197265625,
            0.9254097938537598,
            -0.08745253086090088
        ],
        "angular_velocity": [
            0.22809991240501404,
            -1.7497718334197998,
            0.18984512984752655
        ],
        "forward_vector": [
            -0.9873313903808594,
            -0.15822827816009521,
            0.011854966171085835
        ],
        "right_vector": [
            0.15823747217655182,
            -0.9874010682106018,
            -0.00016396265709772706
        ],
        "location": [
            1157.2030029296875,
            4082.94140625,
            365.7668762207031
        ],
        "rotation": [
            0.009395028464496136,
            0.6792554259300232,
            -170.89527893066406
        ],
        "velocity": [
            -8.530632019042969,
            -1.3701761960983276,
            0.14133095741271973
        ],
        "speed": 8.639969065492977,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.429101943969727,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1135.0755615234375,
                4079.294677734375,
                366.1441955566406
            ],
            "velocity": [
                -7.534291744232178,
                -1.2239779233932495,
                0.13318732380867004
            ],
            "speed_kmh": 27.483215082658678,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6161770224571228,
                "transform": {
                    "location": {
                        "x": 1119.4971923828125,
                        "y": 4079.903076171875,
                        "z": 366.3779602050781
                    },
                    "rotation": {
                        "roll": -0.0064391992054879665,
                        "pitch": -0.9137563109397888,
                        "yaw": 9.216336250305176
                    }
                },
                "velocity": {
                    "x": 0.595426619052887,
                    "y": 0.10633227974176407,
                    "z": 0.11762092262506485
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033991813659668,
                "transform": {
                    "location": {
                        "x": 1164.635498046875,
                        "y": 4087.341796875,
                        "z": 365.6750183105469
                    },
                    "rotation": {
                        "roll": 0.0007818306912668049,
                        "pitch": -0.9205318689346313,
                        "yaw": 9.234631538391113
                    }
                },
                "velocity": {
                    "x": 7.92891263961792,
                    "y": 1.2888972759246826,
                    "z": -0.1269318014383316
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.350974082946777,
                "transform": {
                    "location": {
                        "x": 1209.5,
                        "y": 4094.63623046875,
                        "z": 364.9449462890625
                    },
                    "rotation": {
                        "roll": 0.0008912403136491776,
                        "pitch": -0.8326683044433594,
                        "yaw": 9.231154441833496
                    }
                },
                "velocity": {
                    "x": 8.241944313049316,
                    "y": 1.339504361152649,
                    "z": -0.12186070531606674
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.879616737365723,
                "transform": {
                    "location": {
                        "x": 1197.560791015625,
                        "y": 4089.454345703125,
                        "z": 365.1360168457031
                    },
                    "rotation": {
                        "roll": 0.0005201352760195732,
                        "pitch": 0.8733420968055725,
                        "yaw": -170.74058532714844
                    }
                },
                "velocity": {
                    "x": -9.750191688537598,
                    "y": -1.586922526359558,
                    "z": 0.149220809340477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.673510551452637,
                "transform": {
                    "location": {
                        "x": 1176.358154296875,
                        "y": 4086.0068359375,
                        "z": 365.4573059082031
                    },
                    "rotation": {
                        "roll": 0.0008621424785815179,
                        "pitch": 0.9998576641082764,
                        "yaw": -170.7681121826172
                    }
                },
                "velocity": {
                    "x": -9.547049522399902,
                    "y": -1.551666021347046,
                    "z": 0.15158915519714355
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.634226322174072,
                "transform": {
                    "location": {
                        "x": 1135.0755615234375,
                        "y": 4079.294677734375,
                        "z": 366.1441955566406
                    },
                    "rotation": {
                        "roll": 0.0006963922060094774,
                        "pitch": 0.9698867797851562,
                        "yaw": -170.7683868408203
                    }
                },
                "velocity": {
                    "x": -7.534291744232178,
                    "y": -1.2239779233932495,
                    "z": 0.13318732380867004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.625156879425049,
                "transform": {
                    "location": {
                        "x": 1118.207763671875,
                        "y": 4076.562744140625,
                        "z": 366.44378662109375
                    },
                    "rotation": {
                        "roll": -0.00579833472147584,
                        "pitch": 0.9588492512702942,
                        "yaw": -171.08604431152344
                    }
                },
                "velocity": {
                    "x": -6.539152145385742,
                    "y": -1.0576351881027222,
                    "z": 0.1166296899318695
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03541000187397003,
        "expert_target_speed": 8.946260371274892,
        "target_point": [
            37.720897679843,
            0.03418049749139396
        ],
        "target_point_next": [
            37.720897679843,
            0.03418049749139396
        ]
    },
    "290": {
        "acceleration": [
            2.3459815979003906,
            0.3464078903198242,
            -0.04070669412612915
        ],
        "angular_velocity": [
            -0.054294031113386154,
            0.3262564539909363,
            0.197599396109581
        ],
        "forward_vector": [
            -0.9872197508811951,
            -0.15908177196979523,
            0.009499645791947842
        ],
        "right_vector": [
            0.15908952057361603,
            -0.9872641563415527,
            5.9652080381056294e-05
        ],
        "location": [
            1155.20654296875,
            4082.619873046875,
            365.80035400390625
        ],
        "rotation": [
            -0.003417966654524207,
            0.5442977547645569,
            -170.84597778320312
        ],
        "velocity": [
            -7.585339069366455,
            -1.2251310348510742,
            0.12588025629520416
        ],
        "speed": 7.683639427368545,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.163694381713867,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1133.341552734375,
                4079.0126953125,
                366.1742858886719
            ],
            "velocity": [
                -6.27239465713501,
                -1.0186928510665894,
                0.10915475338697433
            ],
            "speed_kmh": 22.87985788140622,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6704846620559692,
                "transform": {
                    "location": {
                        "x": 1119.8079833984375,
                        "y": 4079.95654296875,
                        "z": 366.3918762207031
                    },
                    "rotation": {
                        "roll": -0.008880615234375,
                        "pitch": -0.6448107957839966,
                        "yaw": 9.316554069519043
                    }
                },
                "velocity": {
                    "x": 1.6464364528656006,
                    "y": 0.2819751799106598,
                    "z": 0.016001634299755096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.036328315734863,
                "transform": {
                    "location": {
                        "x": 1166.6180419921875,
                        "y": 4087.66357421875,
                        "z": 365.6431579589844
                    },
                    "rotation": {
                        "roll": 0.0011306325905025005,
                        "pitch": -0.9112769365310669,
                        "yaw": 9.252988815307617
                    }
                },
                "velocity": {
                    "x": 7.931065082550049,
                    "y": 1.2902379035949707,
                    "z": -0.12671861052513123
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.33037281036377,
                "transform": {
                    "location": {
                        "x": 1211.557861328125,
                        "y": 4094.970458984375,
                        "z": 364.9147644042969
                    },
                    "rotation": {
                        "roll": 0.0003428398340474814,
                        "pitch": -0.8349632620811462,
                        "yaw": 9.232789039611816
                    }
                },
                "velocity": {
                    "x": 8.221465110778809,
                    "y": 1.3373435735702515,
                    "z": -0.11887551844120026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.718917846679688,
                "transform": {
                    "location": {
                        "x": 1195.2723388671875,
                        "y": 4089.081787109375,
                        "z": 365.1703186035156
                    },
                    "rotation": {
                        "roll": -0.0007629288011230528,
                        "pitch": 0.9673117995262146,
                        "yaw": -170.78509521484375
                    }
                },
                "velocity": {
                    "x": -8.604857444763184,
                    "y": -1.3994523286819458,
                    "z": 0.13226065039634705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.059793472290039,
                "transform": {
                    "location": {
                        "x": 1174.216552734375,
                        "y": 4085.65869140625,
                        "z": 365.4931945800781
                    },
                    "rotation": {
                        "roll": -0.0007934492896310985,
                        "pitch": 0.4713103473186493,
                        "yaw": -170.7702178955078
                    }
                },
                "velocity": {
                    "x": -7.954453945159912,
                    "y": -1.2926148176193237,
                    "z": 0.12679116427898407
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.355515956878662,
                "transform": {
                    "location": {
                        "x": 1133.341552734375,
                        "y": 4079.0126953125,
                        "z": 366.1742858886719
                    },
                    "rotation": {
                        "roll": -0.00106811395380646,
                        "pitch": 0.8462740778923035,
                        "yaw": -170.77880859375
                    }
                },
                "velocity": {
                    "x": -6.27239465713501,
                    "y": -1.0186928510665894,
                    "z": 0.10915475338697433
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.222415447235107,
                "transform": {
                    "location": {
                        "x": 1116.63720703125,
                        "y": 4076.30908203125,
                        "z": 366.4714660644531
                    },
                    "rotation": {
                        "roll": -0.005035398993641138,
                        "pitch": 0.9435837268829346,
                        "yaw": -171.11956787109375
                    }
                },
                "velocity": {
                    "x": -6.141776084899902,
                    "y": -0.9924544095993042,
                    "z": 0.10989465564489365
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04007956013083458,
        "expert_target_speed": 8.224501515523093,
        "target_point": [
            35.698727193828,
            0.001908629843342169
        ],
        "target_point_next": [
            35.698727193828,
            0.001908629843342169
        ]
    },
    "295": {
        "acceleration": [
            -0.5359268188476562,
            -0.11068344116210938,
            0.010833442211151123
        ],
        "angular_velocity": [
            -0.20662051439285278,
            1.0593538284301758,
            0.19105245172977448
        ],
        "forward_vector": [
            -0.9870456457138062,
            -0.15991047024726868,
            0.013020623475313187
        ],
        "right_vector": [
            0.1599256694316864,
            -0.9871290922164917,
            0.0001272883964702487
        ],
        "location": [
            1153.3485107421875,
            4082.3193359375,
            365.83050537109375
        ],
        "rotation": [
            -0.007293705362826586,
            0.746047854423523,
            -170.79751586914062
        ],
        "velocity": [
            -7.424407958984375,
            -1.2058998346328735,
            0.12352201342582703
        ],
        "speed": 7.521703793197265,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.724733352661133,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1131.9169921875,
                4078.78125,
                366.19927978515625
            ],
            "velocity": [
                -5.525150775909424,
                -0.899398684501648,
                0.09639541059732437
            ],
            "speed_kmh": 20.155339121522726,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.823190450668335,
                "transform": {
                    "location": {
                        "x": 1120.3603515625,
                        "y": 4080.050537109375,
                        "z": 366.3879699707031
                    },
                    "rotation": {
                        "roll": -0.013946530409157276,
                        "pitch": -0.5662158131599426,
                        "yaw": 9.443460464477539
                    }
                },
                "velocity": {
                    "x": 2.782271146774292,
                    "y": 0.4774578809738159,
                    "z": -0.037488892674446106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.035170555114746,
                "transform": {
                    "location": {
                        "x": 1168.6009521484375,
                        "y": 4087.986083984375,
                        "z": 365.6113586425781
                    },
                    "rotation": {
                        "roll": 0.0007306478219106793,
                        "pitch": -0.9049043655395508,
                        "yaw": 9.231040000915527
                    }
                },
                "velocity": {
                    "x": 7.92983341217041,
                    "y": 1.2905875444412231,
                    "z": -0.12683333456516266
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.350435256958008,
                "transform": {
                    "location": {
                        "x": 1213.61572265625,
                        "y": 4095.305419921875,
                        "z": 364.8846130371094
                    },
                    "rotation": {
                        "roll": -0.0009460480650886893,
                        "pitch": -0.834225594997406,
                        "yaw": 9.238999366760254
                    }
                },
                "velocity": {
                    "x": 8.241277694702148,
                    "y": 1.340444564819336,
                    "z": -0.11968705803155899
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.052511692047119,
                "transform": {
                    "location": {
                        "x": 1193.330322265625,
                        "y": 4088.769287109375,
                        "z": 365.1996765136719
                    },
                    "rotation": {
                        "roll": 0.006415673531591892,
                        "pitch": 1.0211063623428345,
                        "yaw": -170.3559112548828
                    }
                },
                "velocity": {
                    "x": -6.959767818450928,
                    "y": -1.135001540184021,
                    "z": 0.10642825812101364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.311921119689941,
                "transform": {
                    "location": {
                        "x": 1172.2227783203125,
                        "y": 4085.334228515625,
                        "z": 365.52386474609375
                    },
                    "rotation": {
                        "roll": -0.001098626758903265,
                        "pitch": 0.7740448117256165,
                        "yaw": -170.75991821289062
                    }
                },
                "velocity": {
                    "x": -8.203033447265625,
                    "y": -1.3345777988433838,
                    "z": 0.13106542825698853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.598705291748047,
                "transform": {
                    "location": {
                        "x": 1131.9169921875,
                        "y": 4078.78125,
                        "z": 366.19927978515625
                    },
                    "rotation": {
                        "roll": -0.0007324217585846782,
                        "pitch": 0.8681511282920837,
                        "yaw": -170.75234985351562
                    }
                },
                "velocity": {
                    "x": -5.525150775909424,
                    "y": -0.899398684501648,
                    "z": 0.09639541059732437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.276680946350098,
                "transform": {
                    "location": {
                        "x": 1115.0870361328125,
                        "y": 4076.05810546875,
                        "z": 366.4990234375
                    },
                    "rotation": {
                        "roll": -0.008483887650072575,
                        "pitch": 0.9899675846099854,
                        "yaw": -171.11361694335938
                    }
                },
                "velocity": {
                    "x": -6.194798946380615,
                    "y": -1.0045709609985352,
                    "z": 0.10966941714286804
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03690445050597191,
        "expert_target_speed": 8.078231348832107,
        "target_point": [
            33.81653483229395,
            -0.02781450801030516
        ],
        "target_point_next": [
            33.81653483229395,
            -0.02781450801030516
        ]
    },
    "300": {
        "acceleration": [
            -2.787313461303711,
            -0.4849982261657715,
            0.025154054164886475
        ],
        "angular_velocity": [
            -0.10904460400342941,
            0.9736106395721436,
            0.21271038055419922
        ],
        "forward_vector": [
            -0.9868329763412476,
            -0.16075286269187927,
            0.01786685362458229
        ],
        "right_vector": [
            0.16078107059001923,
            -0.9869900941848755,
            0.00014485277642961591
        ],
        "location": [
            1151.4296875,
            4082.006591796875,
            365.8616027832031
        ],
        "rotation": [
            -0.008300777524709702,
            1.0237497091293335,
            -170.74790954589844
        ],
        "velocity": [
            -7.943070411682129,
            -1.2973661422729492,
            0.13212628662586212
        ],
        "speed": 8.04832445121693,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.213924407958984,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1130.502197265625,
                4078.55126953125,
                366.2242736816406
            ],
            "velocity": [
                -5.73838472366333,
                -0.9329384565353394,
                0.10070470720529556
            ],
            "speed_kmh": 20.93256051960845,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.258528709411621,
                "transform": {
                    "location": {
                        "x": 1121.2430419921875,
                        "y": 4080.201416015625,
                        "z": 366.37335205078125
                    },
                    "rotation": {
                        "roll": -0.01672363467514515,
                        "pitch": -0.4439964294433594,
                        "yaw": 9.582464218139648
                    }
                },
                "velocity": {
                    "x": 4.196164608001709,
                    "y": 0.7225058674812317,
                    "z": -0.07249584794044495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.034725189208984,
                "transform": {
                    "location": {
                        "x": 1170.5833740234375,
                        "y": 4088.308349609375,
                        "z": 365.5797119140625
                    },
                    "rotation": {
                        "roll": 0.0004311228112783283,
                        "pitch": -0.9057922959327698,
                        "yaw": 9.258039474487305
                    }
                },
                "velocity": {
                    "x": 7.92938232421875,
                    "y": 1.2904956340789795,
                    "z": -0.12777797877788544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.330262184143066,
                "transform": {
                    "location": {
                        "x": 1215.673583984375,
                        "y": 4095.64013671875,
                        "z": 364.85443115234375
                    },
                    "rotation": {
                        "roll": -0.0010681173298507929,
                        "pitch": -0.8344441652297974,
                        "yaw": 9.238798141479492
                    }
                },
                "velocity": {
                    "x": 8.221359252929688,
                    "y": 1.3372951745986938,
                    "z": -0.11896084249019623
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.0242509841918945,
                "transform": {
                    "location": {
                        "x": 1191.6187744140625,
                        "y": 4088.48876953125,
                        "z": 365.22698974609375
                    },
                    "rotation": {
                        "roll": 0.0025581587105989456,
                        "pitch": 0.8963461518287659,
                        "yaw": -170.56690979003906
                    }
                },
                "velocity": {
                    "x": -6.932069778442383,
                    "y": -1.1294219493865967,
                    "z": 0.10448040068149567
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.81449031829834,
                "transform": {
                    "location": {
                        "x": 1170.1038818359375,
                        "y": 4084.989990234375,
                        "z": 365.5566711425781
                    },
                    "rotation": {
                        "roll": 0.0006907415809109807,
                        "pitch": 1.0011417865753174,
                        "yaw": -170.76487731933594
                    }
                },
                "velocity": {
                    "x": -8.699363708496094,
                    "y": -1.413106083869934,
                    "z": 0.13941828906536102
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.814599990844727,
                "transform": {
                    "location": {
                        "x": 1130.502197265625,
                        "y": 4078.55126953125,
                        "z": 366.2242736816406
                    },
                    "rotation": {
                        "roll": 0.0004369512607809156,
                        "pitch": 0.9956502914428711,
                        "yaw": -170.75775146484375
                    }
                },
                "velocity": {
                    "x": -5.73838472366333,
                    "y": -0.9329384565353394,
                    "z": 0.10070470720529556
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.779991626739502,
                "transform": {
                    "location": {
                        "x": 1113.60205078125,
                        "y": 4075.818115234375,
                        "z": 366.5251770019531
                    },
                    "rotation": {
                        "roll": -0.005920399446040392,
                        "pitch": 0.9382425546646118,
                        "yaw": -171.14080810546875
                    }
                },
                "velocity": {
                    "x": -5.705113887786865,
                    "y": -0.9219022989273071,
                    "z": 0.10038086026906967
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.039878685027360916,
        "expert_target_speed": 8.46274380103097,
        "target_point": [
            31.872355196965913,
            -0.05726719980335648
        ],
        "target_point_next": [
            31.872355196965913,
            -0.05726719980335648
        ]
    },
    "305": {
        "acceleration": [
            -2.633056640625,
            -0.461883544921875,
            0.04038035869598389
        ],
        "angular_velocity": [
            -0.012672154232859612,
            0.46822023391723633,
            0.21277505159378052
        ],
        "forward_vector": [
            -0.9866271615028381,
            -0.16165301203727722,
            0.0208611860871315
        ],
        "right_vector": [
            0.1616915613412857,
            -0.9868413805961609,
            0.00016348226927220821
        ],
        "location": [
            1149.3546142578125,
            4081.666748046875,
            365.8956604003906
        ],
        "rotation": [
            -0.00936888251453638,
            1.1953445672988892,
            -170.69509887695312
        ],
        "velocity": [
            -8.629786491394043,
            -1.4173380136489868,
            0.14554499089717865
        ],
        "speed": 8.745402331052675,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.93606948852539,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1128.7010498046875,
                4078.258056640625,
                366.25640869140625
            ],
            "velocity": [
                -8.035161018371582,
                -1.3063918352127075,
                0.142640620470047
            ],
            "speed_kmh": 29.310902555206358,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.408644199371338,
                "transform": {
                    "location": {
                        "x": 1122.4578857421875,
                        "y": 4080.41064453125,
                        "z": 366.3524169921875
                    },
                    "rotation": {
                        "roll": -0.0178832970559597,
                        "pitch": -0.44588837027549744,
                        "yaw": 9.69548225402832
                    }
                },
                "velocity": {
                    "x": 5.32906436920166,
                    "y": 0.9196691513061523,
                    "z": -0.0933561697602272
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.036177635192871,
                "transform": {
                    "location": {
                        "x": 1172.5657958984375,
                        "y": 4088.630859375,
                        "z": 365.5482482910156
                    },
                    "rotation": {
                        "roll": 0.00035866271355189383,
                        "pitch": -0.9019469022750854,
                        "yaw": 9.234262466430664
                    }
                },
                "velocity": {
                    "x": 7.93074893951416,
                    "y": 1.2912806272506714,
                    "z": -0.12633098661899567
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.350686073303223,
                "transform": {
                    "location": {
                        "x": 1217.7315673828125,
                        "y": 4095.974853515625,
                        "z": 364.8244323730469
                    },
                    "rotation": {
                        "roll": -0.000518808257766068,
                        "pitch": -0.8274568915367126,
                        "yaw": 9.233577728271484
                    }
                },
                "velocity": {
                    "x": 8.241519927978516,
                    "y": 1.3405735492706299,
                    "z": -0.11907436698675156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.479757308959961,
                "transform": {
                    "location": {
                        "x": 1189.8101806640625,
                        "y": 4088.193115234375,
                        "z": 365.2552185058594
                    },
                    "rotation": {
                        "roll": 0.0012239448260515928,
                        "pitch": 0.8256946802139282,
                        "yaw": -170.67999267578125
                    }
                },
                "velocity": {
                    "x": -7.381819725036621,
                    "y": -1.2010846138000488,
                    "z": 0.11357557028532028
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.137322425842285,
                "transform": {
                    "location": {
                        "x": 1167.8472900390625,
                        "y": 4084.623046875,
                        "z": 365.5923767089844
                    },
                    "rotation": {
                        "roll": -0.0013732891529798508,
                        "pitch": 1.088233470916748,
                        "yaw": -170.7677459716797
                    }
                },
                "velocity": {
                    "x": -9.017810821533203,
                    "y": -1.465869426727295,
                    "z": 0.14483840763568878
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.14191722869873,
                "transform": {
                    "location": {
                        "x": 1128.7010498046875,
                        "y": 4078.258056640625,
                        "z": 366.25640869140625
                    },
                    "rotation": {
                        "roll": 0.0006172399153001606,
                        "pitch": 1.2562493085861206,
                        "yaw": -170.7435760498047
                    }
                },
                "velocity": {
                    "x": -8.035161018371582,
                    "y": -1.3063918352127075,
                    "z": 0.142640620470047
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.825201988220215,
                "transform": {
                    "location": {
                        "x": 1112.1767578125,
                        "y": 4075.587158203125,
                        "z": 366.5504150390625
                    },
                    "rotation": {
                        "roll": -0.0067443703301250935,
                        "pitch": 0.9831646680831909,
                        "yaw": -171.15817260742188
                    }
                },
                "velocity": {
                    "x": -5.749763011932373,
                    "y": -0.9289903044700623,
                    "z": 0.10090252012014389
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.040358979254961014,
        "expert_target_speed": 9.002887351793955,
        "target_point": [
            29.769570938191794,
            -0.0865017660039058
        ],
        "target_point_next": [
            29.769570938191794,
            -0.0865017660039058
        ]
    },
    "310": {
        "acceleration": [
            0.30853271484375,
            0.01373291015625,
            -0.006476938724517822
        ],
        "angular_velocity": [
            0.10945120453834534,
            -0.7852683067321777,
            0.2312384694814682
        ],
        "forward_vector": [
            -0.9864710569381714,
            -0.1626223474740982,
            0.020709702745079994
        ],
        "right_vector": [
            0.1626608520746231,
            -0.9866820573806763,
            0.00017732859123498201
        ],
        "location": [
            1147.1295166015625,
            4081.300537109375,
            365.9333190917969
        ],
        "rotation": [
            -0.010162359103560448,
            1.1866633892059326,
            -170.6388397216797
        ],
        "velocity": [
            -8.976720809936523,
            -1.4831739664077759,
            0.15092170238494873
        ],
        "speed": 9.098424122570744,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.636476516723633,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1126.7708740234375,
                4077.944580078125,
                366.2901611328125
            ],
            "velocity": [
                -7.192178726196289,
                -1.1679110527038574,
                0.12787166237831116
            ],
            "speed_kmh": 26.23503605397342,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.132193088531494,
                "transform": {
                    "location": {
                        "x": 1123.810546875,
                        "y": 4080.64404296875,
                        "z": 366.32916259765625
                    },
                    "rotation": {
                        "roll": -0.01672363467514515,
                        "pitch": -0.6599738001823425,
                        "yaw": 9.779112815856934
                    }
                },
                "velocity": {
                    "x": 6.041432857513428,
                    "y": 1.0455931425094604,
                    "z": -0.10776297003030777
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.035966873168945,
                "transform": {
                    "location": {
                        "x": 1174.5484619140625,
                        "y": 4088.953125,
                        "z": 365.5167541503906
                    },
                    "rotation": {
                        "roll": 0.0003923372132703662,
                        "pitch": -0.8985591530799866,
                        "yaw": 9.252689361572266
                    }
                },
                "velocity": {
                    "x": 7.930753707885742,
                    "y": 1.2899192571640015,
                    "z": -0.12658490240573883
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1219.7921142578125,
                        "y": 4096.283203125,
                        "z": 364.7948303222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8204354643821716,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.413965225219727,
                "transform": {
                    "location": {
                        "x": 1187.7027587890625,
                        "y": 4087.850341796875,
                        "z": 365.2889709472656
                    },
                    "rotation": {
                        "roll": -0.0009460410801693797,
                        "pitch": 0.7133722305297852,
                        "yaw": -170.74061584472656
                    }
                },
                "velocity": {
                    "x": -9.290989875793457,
                    "y": -1.5097378492355347,
                    "z": 0.14468370378017426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.501280784606934,
                "transform": {
                    "location": {
                        "x": 1165.664306640625,
                        "y": 4084.267822265625,
                        "z": 365.62841796875
                    },
                    "rotation": {
                        "roll": -0.0001831010013120249,
                        "pitch": 0.8451539278030396,
                        "yaw": -170.76089477539062
                    }
                },
                "velocity": {
                    "x": -8.389914512634277,
                    "y": -1.3647817373275757,
                    "z": 0.13595591485500336
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.287509918212891,
                "transform": {
                    "location": {
                        "x": 1126.7708740234375,
                        "y": 4077.944580078125,
                        "z": 366.2901611328125
                    },
                    "rotation": {
                        "roll": -0.001312261214479804,
                        "pitch": 0.9782537817955017,
                        "yaw": -170.96298217773438
                    }
                },
                "velocity": {
                    "x": -7.192178726196289,
                    "y": -1.1679110527038574,
                    "z": 0.12787166237831116
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.463249206542969,
                "transform": {
                    "location": {
                        "x": 1110.7755126953125,
                        "y": 4075.360595703125,
                        "z": 366.5751037597656
                    },
                    "rotation": {
                        "roll": -0.008728028275072575,
                        "pitch": 0.9558780789375305,
                        "yaw": -171.1632537841797
                    }
                },
                "velocity": {
                    "x": -5.392018795013428,
                    "y": -0.8742319941520691,
                    "z": 0.09455764293670654
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.9866480827331543,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.046053458005189896,
        "expert_target_speed": 9.209855585625569,
        "target_point": [
            27.51443958285892,
            -0.1151357695262627
        ],
        "target_point_next": [
            27.51443958285892,
            -0.1151357695262627
        ]
    },
    "315": {
        "acceleration": [
            1.1829185485839844,
            0.1644277572631836,
            -0.031134188175201416
        ],
        "angular_velocity": [
            0.09661746025085449,
            -0.5130587816238403,
            0.21711401641368866
        ],
        "forward_vector": [
            -0.9863848090171814,
            -0.16359581053256989,
            0.01677553541958332
        ],
        "right_vector": [
            0.16362158954143524,
            -0.9865231513977051,
            0.00016669042815919966
        ],
        "location": [
            1144.9373779296875,
            4080.9375,
            365.9712829589844
        ],
        "rotation": [
            -0.009552001953125,
            0.9612124562263489,
            -170.58299255371094
        ],
        "velocity": [
            -8.62266731262207,
            -1.4332929849624634,
            0.14669553935527802
        ],
        "speed": 8.740979371037534,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.074861526489258,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1125.1318359375,
                4077.6787109375,
                366.3189697265625
            ],
            "velocity": [
                -5.630338191986084,
                -0.9108396768569946,
                0.09960968047380447
            ],
            "speed_kmh": 20.535865181025986,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.629825592041016,
                "transform": {
                    "location": {
                        "x": 1125.5238037109375,
                        "y": 4080.938720703125,
                        "z": 366.2978515625
                    },
                    "rotation": {
                        "roll": 0.011385426856577396,
                        "pitch": -0.43145620822906494,
                        "yaw": 9.739378929138184
                    }
                },
                "velocity": {
                    "x": 7.521422386169434,
                    "y": 1.2746368646621704,
                    "z": -0.13320353627204895
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.034435272216797,
                "transform": {
                    "location": {
                        "x": 1176.531005859375,
                        "y": 4089.275634765625,
                        "z": 365.4853515625
                    },
                    "rotation": {
                        "roll": -0.00012205796519992873,
                        "pitch": -0.8992626667022705,
                        "yaw": 9.226158142089844
                    }
                },
                "velocity": {
                    "x": 7.929209232330322,
                    "y": 1.289809226989746,
                    "z": -0.12719887495040894
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4180,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1221.8551025390625,
                        "y": 4096.57373046875,
                        "z": 364.7655334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8204354643821716,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.143016815185547,
                "transform": {
                    "location": {
                        "x": 1185.2596435546875,
                        "y": 4087.453125,
                        "z": 365.3265686035156
                    },
                    "rotation": {
                        "roll": -0.0007324267644435167,
                        "pitch": 0.7870494723320007,
                        "yaw": -170.744140625
                    }
                },
                "velocity": {
                    "x": -10.010238647460938,
                    "y": -1.6282057762145996,
                    "z": 0.15763817727565765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03118896484375,
                "transform": {
                    "location": {
                        "x": 1163.67041015625,
                        "y": 4083.943603515625,
                        "z": 365.66119384765625
                    },
                    "rotation": {
                        "roll": 0.0007060753414407372,
                        "pitch": 0.734040379524231,
                        "yaw": -170.765625
                    }
                },
                "velocity": {
                    "x": -7.926084995269775,
                    "y": -1.288743257522583,
                    "z": 0.12771382927894592
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.704407215118408,
                "transform": {
                    "location": {
                        "x": 1125.1318359375,
                        "y": 4077.6787109375,
                        "z": 366.3189697265625
                    },
                    "rotation": {
                        "roll": 0.00020764791406691074,
                        "pitch": 0.8117815852165222,
                        "yaw": -170.95687866210938
                    }
                },
                "velocity": {
                    "x": -5.630338191986084,
                    "y": -0.9108396768569946,
                    "z": 0.09960968047380447
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.356881141662598,
                "transform": {
                    "location": {
                        "x": 1109.454345703125,
                        "y": 4075.146240234375,
                        "z": 366.598388671875
                    },
                    "rotation": {
                        "roll": -0.004364012740552425,
                        "pitch": 0.9629063606262207,
                        "yaw": -171.14080810546875
                    }
                },
                "velocity": {
                    "x": -5.287288665771484,
                    "y": -0.8555836081504822,
                    "z": 0.09344571828842163
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05202069878578186,
        "expert_target_speed": 8.910971880805848,
        "target_point": [
            25.29231798272418,
            -0.1414226280368056
        ],
        "target_point_next": [
            25.29231798272418,
            -0.1414226280368056
        ]
    },
    "320": {
        "acceleration": [
            -1.054534912109375,
            -0.21421432495117188,
            0.014359056949615479
        ],
        "angular_velocity": [
            -0.08805809170007706,
            0.41629862785339355,
            0.2240387350320816
        ],
        "forward_vector": [
            -0.9862209558486938,
            -0.16454945504665375,
            0.01707804575562477
        ],
        "right_vector": [
            0.16457615792751312,
            -0.9863643646240234,
            0.00016029876132961363
        ],
        "location": [
            1142.780517578125,
            4080.578125,
            366.0080261230469
        ],
        "rotation": [
            -0.009185782633721828,
            0.9785475134849548,
            -170.5275421142578
        ],
        "velocity": [
            -8.690461158752441,
            -1.4533953666687012,
            0.14734642207622528
        ],
        "speed": 8.811156180867462,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.896587371826172,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1124.1363525390625,
                4077.517333984375,
                366.3362121582031
            ],
            "velocity": [
                -3.5452966690063477,
                -0.5751587152481079,
                0.06304573267698288
            ],
            "speed_kmh": 12.931924982495518,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.440191268920898,
                "transform": {
                    "location": {
                        "x": 1127.55078125,
                        "y": 4081.280517578125,
                        "z": 366.26220703125
                    },
                    "rotation": {
                        "roll": 0.015966767445206642,
                        "pitch": -0.5195656418800354,
                        "yaw": 9.57535171508789
                    }
                },
                "velocity": {
                    "x": 8.322371482849121,
                    "y": 1.3976680040359497,
                    "z": -0.14660613238811493
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.036430358886719,
                "transform": {
                    "location": {
                        "x": 1178.5135498046875,
                        "y": 4089.597412109375,
                        "z": 365.45404052734375
                    },
                    "rotation": {
                        "roll": 0.0003414575767237693,
                        "pitch": -0.8936141133308411,
                        "yaw": 9.259279251098633
                    }
                },
                "velocity": {
                    "x": 7.930723667144775,
                    "y": 1.2931984663009644,
                    "z": -0.12439204007387161
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.00786304473877,
                "transform": {
                    "location": {
                        "x": 1182.884033203125,
                        "y": 4087.06689453125,
                        "z": 365.36248779296875
                    },
                    "rotation": {
                        "roll": -0.001556400558911264,
                        "pitch": 0.9590131640434265,
                        "yaw": -170.78273010253906
                    }
                },
                "velocity": {
                    "x": -8.890005111694336,
                    "y": -1.445631980895996,
                    "z": 0.1398725062608719
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.605118751525879,
                "transform": {
                    "location": {
                        "x": 1161.5965576171875,
                        "y": 4083.606201171875,
                        "z": 365.6936950683594
                    },
                    "rotation": {
                        "roll": -3.052065221709199e-05,
                        "pitch": 1.0287630558013916,
                        "yaw": -170.76541137695312
                    }
                },
                "velocity": {
                    "x": -8.492498397827148,
                    "y": -1.3807079792022705,
                    "z": 0.13848665356636047
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5922014713287354,
                "transform": {
                    "location": {
                        "x": 1124.1363525390625,
                        "y": 4077.517333984375,
                        "z": 366.3362121582031
                    },
                    "rotation": {
                        "roll": 0.0018907141638919711,
                        "pitch": 0.7116988301277161,
                        "yaw": -170.8065185546875
                    }
                },
                "velocity": {
                    "x": -3.5452966690063477,
                    "y": -0.5751587152481079,
                    "z": 0.06304573267698288
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.156355381011963,
                "transform": {
                    "location": {
                        "x": 1108.164306640625,
                        "y": 4074.93701171875,
                        "z": 366.6210021972656
                    },
                    "rotation": {
                        "roll": -0.0025634709745645523,
                        "pitch": 0.9548876881599426,
                        "yaw": -170.74893188476562
                    }
                },
                "velocity": {
                    "x": -5.088278293609619,
                    "y": -0.830083429813385,
                    "z": 0.09159307181835175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.42382141947746277,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0617382638156414,
        "expert_target_speed": 8.832557550372558,
        "target_point": [
            23.105574538777322,
            -0.16540666764181822
        ],
        "target_point_next": [
            23.105574538777322,
            -0.16540666764181822
        ]
    },
    "325": {
        "acceleration": [
            -1.5888595581054688,
            -0.3017091751098633,
            0.02347707748413086
        ],
        "angular_velocity": [
            -0.047418251633644104,
            0.4145849049091339,
            0.22509178519248962
        ],
        "forward_vector": [
            -0.9860238432884216,
            -0.16551345586776733,
            0.01903204247355461
        ],
        "right_vector": [
            0.16554611921310425,
            -0.9862020015716553,
            0.0001427195966243744
        ],
        "location": [
            1140.5667724609375,
            4080.206787109375,
            366.0455017089844
        ],
        "rotation": [
            -0.008178711868822575,
            1.0905215740203857,
            -170.47119140625
        ],
        "velocity": [
            -9.041473388671875,
            -1.5210821628570557,
            0.15530996024608612
        ],
        "speed": 9.168529434114479,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.71208381652832,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1123.0897216796875,
                4077.34765625,
                366.3553466796875
            ],
            "velocity": [
                -4.793369293212891,
                -0.7775274515151978,
                0.08538267016410828
            ],
            "speed_kmh": 17.484376998299098,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.89792537689209,
                "transform": {
                    "location": {
                        "x": 1129.5596923828125,
                        "y": 4081.61767578125,
                        "z": 366.228515625
                    },
                    "rotation": {
                        "roll": 0.006755529437214136,
                        "pitch": -0.98238605260849,
                        "yaw": 9.517739295959473
                    }
                },
                "velocity": {
                    "x": 7.788033485412598,
                    "y": 1.3056621551513672,
                    "z": -0.13787110149860382
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.035796165466309,
                "transform": {
                    "location": {
                        "x": 1180.49609375,
                        "y": 4089.919921875,
                        "z": 365.4228820800781
                    },
                    "rotation": {
                        "roll": -0.0010986319975927472,
                        "pitch": -0.8890720009803772,
                        "yaw": 9.233426094055176
                    }
                },
                "velocity": {
                    "x": 7.9307861328125,
                    "y": 1.2889493703842163,
                    "z": -0.12352880090475082
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.611593246459961,
                "transform": {
                    "location": {
                        "x": 1180.7496337890625,
                        "y": 4086.720458984375,
                        "z": 365.3961181640625
                    },
                    "rotation": {
                        "roll": 0.0005797024350613356,
                        "pitch": 0.9330174326896667,
                        "yaw": -170.7587127685547
                    }
                },
                "velocity": {
                    "x": -8.499236106872559,
                    "y": -1.3800857067108154,
                    "z": 0.13375045359134674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.80902099609375,
                "transform": {
                    "location": {
                        "x": 1159.3123779296875,
                        "y": 4083.23486328125,
                        "z": 365.72998046875
                    },
                    "rotation": {
                        "roll": 0.0006984634674154222,
                        "pitch": 1.3129125833511353,
                        "yaw": -170.7727508544922
                    }
                },
                "velocity": {
                    "x": -9.681053161621094,
                    "y": -1.5713632106781006,
                    "z": 0.157823845744133
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.856771469116211,
                "transform": {
                    "location": {
                        "x": 1123.0897216796875,
                        "y": 4077.34765625,
                        "z": 366.3553466796875
                    },
                    "rotation": {
                        "roll": -9.155708539765328e-05,
                        "pitch": 1.0893399715423584,
                        "yaw": -170.78482055664062
                    }
                },
                "velocity": {
                    "x": -4.793369293212891,
                    "y": -0.7775274515151978,
                    "z": 0.08538267016410828
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.011698246002197,
                "transform": {
                    "location": {
                        "x": 1106.913330078125,
                        "y": 4074.731689453125,
                        "z": 366.6430358886719
                    },
                    "rotation": {
                        "roll": -0.0040893517434597015,
                        "pitch": 0.9786431193351746,
                        "yaw": -170.67874145507812
                    }
                },
                "velocity": {
                    "x": -4.944250106811523,
                    "y": -0.8153653740882874,
                    "z": 0.08178491145372391
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3080103397369385,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06969781219959259,
        "expert_target_speed": 9.047794383501202,
        "target_point": [
            20.860727127133032,
            -0.1878795670664557
        ],
        "target_point_next": [
            20.860727127133032,
            -0.1878795670664557
        ]
    },
    "330": {
        "acceleration": [
            -1.8693351745605469,
            -0.3566861152648926,
            0.03291487693786621
        ],
        "angular_velocity": [
            -0.0016166403656825423,
            0.16739675402641296,
            0.2443838119506836
        ],
        "forward_vector": [
            -0.9858279228210449,
            -0.1665189266204834,
            0.02036740444600582
        ],
        "right_vector": [
            0.16655614972114563,
            -0.9860319495201111,
            0.00013366305211093277
        ],
        "location": [
            1138.2421875,
            4079.814697265625,
            366.08526611328125
        ],
        "rotation": [
            -0.007659918162971735,
            1.1670470237731934,
            -170.41250610351562
        ],
        "velocity": [
            -9.512411117553711,
            -1.6101887226104736,
            0.16398246586322784
        ],
        "speed": 9.647728903310943,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.688520431518555,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1121.7730712890625,
                4077.133544921875,
                366.37908935546875
            ],
            "velocity": [
                -5.550020217895508,
                -0.9022198915481567,
                0.09840076416730881
            ],
            "speed_kmh": 20.24545000471391,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.991836071014404,
                "transform": {
                    "location": {
                        "x": 1131.49755859375,
                        "y": 4081.939208984375,
                        "z": 366.1944885253906
                    },
                    "rotation": {
                        "roll": 0.015874093398451805,
                        "pitch": -1.000759243965149,
                        "yaw": 9.41362190246582
                    }
                },
                "velocity": {
                    "x": 7.883920192718506,
                    "y": 1.3017079830169678,
                    "z": -0.13711874186992645
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.035595893859863,
                "transform": {
                    "location": {
                        "x": 1182.478515625,
                        "y": 4090.2421875,
                        "z": 365.3918762207031
                    },
                    "rotation": {
                        "roll": -0.0015869095223024487,
                        "pitch": -0.8898301720619202,
                        "yaw": 9.254347801208496
                    }
                },
                "velocity": {
                    "x": 7.930327415466309,
                    "y": 1.2905030250549316,
                    "z": -0.12371858954429626
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.27597713470459,
                "transform": {
                    "location": {
                        "x": 1178.5484619140625,
                        "y": 4086.36279296875,
                        "z": 365.4315490722656
                    },
                    "rotation": {
                        "roll": -0.0007324224570766091,
                        "pitch": 0.8367732763290405,
                        "yaw": -170.7891082763672
                    }
                },
                "velocity": {
                    "x": -9.154869079589844,
                    "y": -1.4870389699935913,
                    "z": 0.14431123435497284
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.611906051635742,
                "transform": {
                    "location": {
                        "x": 1156.89111328125,
                        "y": 4082.841064453125,
                        "z": 365.7706604003906
                    },
                    "rotation": {
                        "roll": -0.0014648349024355412,
                        "pitch": 1.0647512674331665,
                        "yaw": -170.77061462402344
                    }
                },
                "velocity": {
                    "x": -9.486210823059082,
                    "y": -1.5414096117019653,
                    "z": 0.15679959952831268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.623736381530762,
                "transform": {
                    "location": {
                        "x": 1121.7730712890625,
                        "y": 4077.133544921875,
                        "z": 366.37908935546875
                    },
                    "rotation": {
                        "roll": -0.00097657332662493,
                        "pitch": 1.1298975944519043,
                        "yaw": -170.7891082763672
                    }
                },
                "velocity": {
                    "x": -5.550020217895508,
                    "y": -0.9022198915481567,
                    "z": 0.09840076416730881
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.536684513092041,
                "transform": {
                    "location": {
                        "x": 1105.8397216796875,
                        "y": 4074.554931640625,
                        "z": 366.66168212890625
                    },
                    "rotation": {
                        "roll": 0.0017231833189725876,
                        "pitch": 0.768000066280365,
                        "yaw": -170.66456604003906
                    }
                },
                "velocity": {
                    "x": -3.489041328430176,
                    "y": -0.5752751231193542,
                    "z": 0.061534613370895386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.07702258974313736,
        "expert_target_speed": 9.305501947753319,
        "target_point": [
            18.503103681477572,
            -0.20869192315478502
        ],
        "target_point_next": [
            18.503103681477572,
            -0.20869192315478502
        ]
    },
    "335": {
        "acceleration": [
            2.158527374267578,
            0.32872438430786133,
            -0.02273350954055786
        ],
        "angular_velocity": [
            0.17044956982135773,
            -0.9460240602493286,
            0.23363429307937622
        ],
        "forward_vector": [
            -0.9856806993484497,
            -0.16755777597427368,
            0.01892036385834217
        ],
        "right_vector": [
            0.16759002208709717,
            -0.985856831073761,
            0.00012088601215509698
        ],
        "location": [
            1135.8487548828125,
            4079.40869140625,
            366.1270751953125
        ],
        "rotation": [
            -0.006927498150616884,
            1.0841217041015625,
            -170.35240173339844
        ],
        "velocity": [
            -9.463672637939453,
            -1.6118810176849365,
            0.16488102078437805
        ],
        "speed": 9.59996146936314,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.736614227294922,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1120.31640625,
                4076.896728515625,
                366.4049377441406
            ],
            "velocity": [
                -6.67947244644165,
                -1.0865765810012817,
                0.1183457002043724
            ],
            "speed_kmh": 24.365912350648397,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.155891418457031,
                "transform": {
                    "location": {
                        "x": 1133.5067138671875,
                        "y": 4082.2705078125,
                        "z": 366.1591796875
                    },
                    "rotation": {
                        "roll": 0.007322785444557667,
                        "pitch": -0.9390211701393127,
                        "yaw": 9.36364459991455
                    }
                },
                "velocity": {
                    "x": 8.046102523803711,
                    "y": 1.3264721632003784,
                    "z": -0.138811856508255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.034789085388184,
                "transform": {
                    "location": {
                        "x": 1184.4609375,
                        "y": 4090.564697265625,
                        "z": 365.3608093261719
                    },
                    "rotation": {
                        "roll": -0.0013427676167339087,
                        "pitch": -0.8897960186004639,
                        "yaw": 9.230973243713379
                    }
                },
                "velocity": {
                    "x": 7.929542541503906,
                    "y": 1.2904493808746338,
                    "z": -0.12218057364225388
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.097323417663574,
                "transform": {
                    "location": {
                        "x": 1176.15478515625,
                        "y": 4085.9736328125,
                        "z": 365.4695739746094
                    },
                    "rotation": {
                        "roll": -0.0003967379161622375,
                        "pitch": 0.8137350082397461,
                        "yaw": -170.75599670410156
                    }
                },
                "velocity": {
                    "x": -9.964932441711426,
                    "y": -1.6221729516983032,
                    "z": 0.1569066047668457
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.584017753601074,
                "transform": {
                    "location": {
                        "x": 1154.6529541015625,
                        "y": 4082.477294921875,
                        "z": 365.80908203125
                    },
                    "rotation": {
                        "roll": -0.0014648514334112406,
                        "pitch": 0.7002787590026855,
                        "yaw": -170.7666015625
                    }
                },
                "velocity": {
                    "x": -8.471653938293457,
                    "y": -1.377164602279663,
                    "z": 0.1409095674753189
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.768309116363525,
                "transform": {
                    "location": {
                        "x": 1120.31640625,
                        "y": 4076.896728515625,
                        "z": 366.4049377441406
                    },
                    "rotation": {
                        "roll": -0.0003662137023638934,
                        "pitch": 1.1842795610427856,
                        "yaw": -170.76734924316406
                    }
                },
                "velocity": {
                    "x": -6.67947244644165,
                    "y": -1.0865765810012817,
                    "z": 0.1183457002043724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.428948998451233,
                "transform": {
                    "location": {
                        "x": 1105.177978515625,
                        "y": 4074.44482421875,
                        "z": 366.6733093261719
                    },
                    "rotation": {
                        "roll": -0.007843011990189552,
                        "pitch": 0.6365804076194763,
                        "yaw": -170.63577270507812
                    }
                },
                "velocity": {
                    "x": -1.406602144241333,
                    "y": -0.25052136182785034,
                    "z": 0.024596290662884712
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.09252091497182846,
        "expert_target_speed": 9.269795308220633,
        "target_point": [
            16.075250166753506,
            -0.22726409298789774
        ],
        "target_point_next": [
            16.075250166753506,
            -0.22726409298789774
        ]
    },
    "340": {
        "acceleration": [
            0.6334686279296875,
            0.0676727294921875,
            -0.0009307265281677246
        ],
        "angular_velocity": [
            -0.0004712571681011468,
            -0.09486716985702515,
            0.23459115624427795
        ],
        "forward_vector": [
            -0.9855650663375854,
            -0.1685749888420105,
            0.0156186418607831
        ],
        "right_vector": [
            0.1685972362756729,
            -0.9856849908828735,
            0.00010970887524308637
        ],
        "location": [
            1133.553955078125,
            4079.016845703125,
            366.1678161621094
        ],
        "rotation": [
            -0.006286622025072575,
            0.89491868019104,
            -170.2938232421875
        ],
        "velocity": [
            -9.007867813110352,
            -1.5440118312835693,
            0.1576908826828003
        ],
        "speed": 9.139237116609522,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.210318565368652,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1118.5380859375,
                4076.607421875,
                366.4363708496094
            ],
            "velocity": [
                -6.869849681854248,
                -1.1166481971740723,
                0.12166140973567963
            ],
            "speed_kmh": 25.05986332616411,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.933727741241455,
                "transform": {
                    "location": {
                        "x": 1135.4842529296875,
                        "y": 4082.595947265625,
                        "z": 366.12518310546875
                    },
                    "rotation": {
                        "roll": 0.008550940081477165,
                        "pitch": -1.0386053323745728,
                        "yaw": 9.334383964538574
                    }
                },
                "velocity": {
                    "x": 7.828149318695068,
                    "y": 1.2827088832855225,
                    "z": -0.137015238404274
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.036035537719727,
                "transform": {
                    "location": {
                        "x": 1186.443603515625,
                        "y": 4090.88671875,
                        "z": 365.3297119140625
                    },
                    "rotation": {
                        "roll": -0.0010376002173870802,
                        "pitch": -0.8901990056037903,
                        "yaw": 9.248820304870605
                    }
                },
                "velocity": {
                    "x": 7.930691242218018,
                    "y": 1.290999412536621,
                    "z": -0.12380140274763107
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.607626914978027,
                "transform": {
                    "location": {
                        "x": 1173.677734375,
                        "y": 4085.571044921875,
                        "z": 365.5079650878906
                    },
                    "rotation": {
                        "roll": 0.00013822897744830698,
                        "pitch": 0.9170962572097778,
                        "yaw": -170.77859497070312
                    }
                },
                "velocity": {
                    "x": -9.481874465942383,
                    "y": -1.5420997142791748,
                    "z": 0.14995528757572174
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.931130409240723,
                "transform": {
                    "location": {
                        "x": 1152.5067138671875,
                        "y": 4082.12841796875,
                        "z": 365.8440246582031
                    },
                    "rotation": {
                        "roll": -0.000701892888173461,
                        "pitch": 0.922580897808075,
                        "yaw": -170.7663116455078
                    }
                },
                "velocity": {
                    "x": -8.814209938049316,
                    "y": -1.4329007863998413,
                    "z": 0.14692309498786926
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.96107292175293,
                "transform": {
                    "location": {
                        "x": 1118.5380859375,
                        "y": 4076.607421875,
                        "z": 366.4363708496094
                    },
                    "rotation": {
                        "roll": 0.0013541759690269828,
                        "pitch": 1.0738149881362915,
                        "yaw": -170.78079223632812
                    }
                },
                "velocity": {
                    "x": -6.869849681854248,
                    "y": -1.1166481971740723,
                    "z": 0.12166140973567963
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005707910750061274,
                "transform": {
                    "location": {
                        "x": 1105.146240234375,
                        "y": 4074.439208984375,
                        "z": 366.6739501953125
                    },
                    "rotation": {
                        "roll": 0.005183286499232054,
                        "pitch": 0.6882917881011963,
                        "yaw": -170.60862731933594
                    }
                },
                "velocity": {
                    "x": 0.005607597529888153,
                    "y": 0.001056147855706513,
                    "z": -0.0001401698391418904
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.30730709433555603,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11319524794816971,
        "expert_target_speed": 8.961989231682388,
        "target_point": [
            13.746995514824308,
            -0.24304103746997363
        ],
        "target_point_next": [
            13.746995514824308,
            -0.24304103746997363
        ]
    },
    "345": {
        "acceleration": [
            -0.6509780883789062,
            -0.14727354049682617,
            0.004532039165496826
        ],
        "angular_velocity": [
            -0.06987211108207703,
            0.5164715647697449,
            0.22985941171646118
        ],
        "forward_vector": [
            -0.9853736162185669,
            -0.16955848038196564,
            0.016992466524243355
        ],
        "right_vector": [
            0.1695844531059265,
            -0.9855156540870667,
            8.893675840226933e-05
        ],
        "location": [
            1131.303466796875,
            4078.6298828125,
            366.2071533203125
        ],
        "rotation": [
            -0.005096436943858862,
            0.97364342212677,
            -170.23643493652344
        ],
        "velocity": [
            -9.06142520904541,
            -1.5625638961791992,
            0.15875917673110962
        ],
        "speed": 9.195163552040082,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.276006698608398,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1117.2064208984375,
                4076.390625,
                366.45892333984375
            ],
            "velocity": [
                -2.627598762512207,
                -0.43170782923698425,
                0.045291852205991745
            ],
            "speed_kmh": 9.587563268609781,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.080334663391113,
                "transform": {
                    "location": {
                        "x": 1137.4576416015625,
                        "y": 4082.918701171875,
                        "z": 366.09075927734375
                    },
                    "rotation": {
                        "roll": 0.00704619288444519,
                        "pitch": -0.9778098464012146,
                        "yaw": 9.291316986083984
                    }
                },
                "velocity": {
                    "x": 7.973459243774414,
                    "y": 1.3026130199432373,
                    "z": -0.1376754194498062
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.034809112548828,
                "transform": {
                    "location": {
                        "x": 1188.42626953125,
                        "y": 4091.209228515625,
                        "z": 365.2989807128906
                    },
                    "rotation": {
                        "roll": -0.0003662184753920883,
                        "pitch": -0.877740740776062,
                        "yaw": 9.222149848937988
                    }
                },
                "velocity": {
                    "x": 7.9297356605529785,
                    "y": 1.2893379926681519,
                    "z": -0.1226968839764595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.90031909942627,
                "transform": {
                    "location": {
                        "x": 1171.4342041015625,
                        "y": 4085.20654296875,
                        "z": 365.54339599609375
                    },
                    "rotation": {
                        "roll": -0.0016479493351653218,
                        "pitch": 0.9633093476295471,
                        "yaw": -170.75363159179688
                    }
                },
                "velocity": {
                    "x": -8.784032821655273,
                    "y": -1.4271323680877686,
                    "z": 0.14048361778259277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.819032669067383,
                "transform": {
                    "location": {
                        "x": 1150.30126953125,
                        "y": 4081.77001953125,
                        "z": 365.88079833984375
                    },
                    "rotation": {
                        "roll": 0.0005100263515487313,
                        "pitch": 0.9495806694030762,
                        "yaw": -170.76812744140625
                    }
                },
                "velocity": {
                    "x": -8.703781127929688,
                    "y": -1.4135204553604126,
                    "z": 0.14662885665893555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.6632120609283447,
                "transform": {
                    "location": {
                        "x": 1117.2064208984375,
                        "y": 4076.390625,
                        "z": 366.45892333984375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": 0.5007689595222473,
                        "yaw": -171.0053253173828
                    }
                },
                "velocity": {
                    "x": -2.627598762512207,
                    "y": -0.43170782923698425,
                    "z": 0.045291852205991745
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0020874598994851112,
                "transform": {
                    "location": {
                        "x": 1105.144775390625,
                        "y": 4074.43896484375,
                        "z": 366.67401123046875
                    },
                    "rotation": {
                        "roll": 0.0032406451646238565,
                        "pitch": 0.9307771325111389,
                        "yaw": -170.60838317871094
                    }
                },
                "velocity": {
                    "x": 0.0013721260474994779,
                    "y": 0.0002238229353679344,
                    "z": -0.0015571328112855554
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.12881647050380707,
        "expert_target_speed": 8.544761703059766,
        "target_point": [
            11.463230920363143,
            -0.2565205000983306
        ],
        "target_point_next": [
            11.463230920363143,
            -0.2565205000983306
        ]
    },
    "350": {
        "acceleration": [
            -1.9701957702636719,
            -0.3834056854248047,
            0.03642052412033081
        ],
        "angular_velocity": [
            -0.11469142138957977,
            0.4651940166950226,
            0.24072906374931335
        ],
        "forward_vector": [
            -0.9851567149162292,
            -0.17055736482143402,
            0.019400332123041153
        ],
        "right_vector": [
            0.17059078812599182,
            -0.9853419661521912,
            6.869656499475241e-05
        ],
        "location": [
            1128.9913330078125,
            4078.230224609375,
            366.2473449707031
        ],
        "rotation": [
            -0.003936764318495989,
            1.1116268634796143,
            -170.1779022216797
        ],
        "velocity": [
            -9.439457893371582,
            -1.6377335786819458,
            0.16642849147319794
        ],
        "speed": 9.580476845933998,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.08541488647461,
        "front_vehicle_info": {
            "id": 4174,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1117.0526123046875,
                4076.365234375,
                366.4618225097656
            ],
            "velocity": [
                -0.6711759567260742,
                -0.10734368115663528,
                0.0135475629940629
            ],
            "speed_kmh": 2.447426493147256,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4182,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038738250732422,
                "transform": {
                    "location": {
                        "x": 1139.450927734375,
                        "y": 4083.244384765625,
                        "z": 366.0564270019531
                    },
                    "rotation": {
                        "roll": 0.00248203007504344,
                        "pitch": -0.9809585213661194,
                        "yaw": 9.2792387008667
                    }
                },
                "velocity": {
                    "x": 7.932417869567871,
                    "y": 1.2958793640136719,
                    "z": -0.13698221743106842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4181,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.035382270812988,
                "transform": {
                    "location": {
                        "x": 1190.4088134765625,
                        "y": 4091.53125,
                        "z": 365.2683410644531
                    },
                    "rotation": {
                        "roll": -0.0003662110539153218,
                        "pitch": -0.8702070116996765,
                        "yaw": 9.251861572265625
                    }
                },
                "velocity": {
                    "x": 7.930213928222656,
                    "y": 1.2900406122207642,
                    "z": -0.12196555733680725
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4179,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.46500015258789,
                "transform": {
                    "location": {
                        "x": 1169.17822265625,
                        "y": 4084.83984375,
                        "z": 365.5802001953125
                    },
                    "rotation": {
                        "roll": -0.00012207012332510203,
                        "pitch": 0.8632402420043945,
                        "yaw": -170.78497314453125
                    }
                },
                "velocity": {
                    "x": -9.341570854187012,
                    "y": -1.5163830518722534,
                    "z": 0.147902250289917
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4175,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.154773712158203,
                "transform": {
                    "location": {
                        "x": 1148.0885009765625,
                        "y": 4081.41015625,
                        "z": 365.917724609375
                    },
                    "rotation": {
                        "roll": 0.0009768118616193533,
                        "pitch": 1.041979432106018,
                        "yaw": -170.7677459716797
                    }
                },
                "velocity": {
                    "x": -9.035138130187988,
                    "y": -1.4673925638198853,
                    "z": 0.15137948095798492
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6798406839370728,
                "transform": {
                    "location": {
                        "x": 1117.0526123046875,
                        "y": 4076.365234375,
                        "z": 366.4618225097656
                    },
                    "rotation": {
                        "roll": 1.6636258806101978e-05,
                        "pitch": 0.6328784823417664,
                        "yaw": -171.02891540527344
                    }
                },
                "velocity": {
                    "x": -0.6711759567260742,
                    "y": -0.10734368115663528,
                    "z": 0.0135475629940629
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4173,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00039771321462467313,
                "transform": {
                    "location": {
                        "x": 1105.1444091796875,
                        "y": 4074.438720703125,
                        "z": 366.67401123046875
                    },
                    "rotation": {
                        "roll": 0.002952554728835821,
                        "pitch": 0.9807741045951843,
                        "yaw": -170.6082763671875
                    }
                },
                "velocity": {
                    "x": 0.00032844184897840023,
                    "y": 5.481343760038726e-05,
                    "z": 0.00021747926075477153
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.14241944253444672,
        "expert_target_speed": 7.879167608143888,
        "target_point": [
            9.116542480800268,
            -0.26760347504363846
        ],
        "target_point_next": [
            9.116542480800268,
            -0.26760347504363846
        ]
    }
}